16 lines
701 B
XML
16 lines
701 B
XML
<launch>
|
|
<node pkg="explore_lite" type="explore" respawn="false" name="explore" output="screen">
|
|
<param name="robot_base_frame" value="base_link"/>
|
|
<param name="costmap_topic" value="move_base/global_costmap/costmap"/>
|
|
<param name="costmap_updates_topic" value="move_base/global_costmap/costmap_updates"/>
|
|
<param name="visualize" value="true"/>
|
|
<param name="planner_frequency" value="0.33"/>
|
|
<param name="progress_timeout" value="30.0"/>
|
|
<param name="potential_scale" value="3.0"/>
|
|
<param name="orientation_scale" value="0.0"/>
|
|
<param name="gain_scale" value="1.0"/>
|
|
<param name="transform_tolerance" value="0.3"/>
|
|
<param name="min_frontier_size" value="0.5"/>
|
|
</node>
|
|
</launch>
|