Commit 4f625dc7 authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Undo adding average_cloud_in parameter as it was not needed. Fix some typos: default->value. Indent

parent f863c3ac
......@@ -2,69 +2,66 @@
<!-- -->
<launch>
<arg name="ns" default="ana" />
<arg name="output" default="log"/>
<arg name="launch_prefix" default=""/>
<arg name="use_nodelets" default="true"/>
<arg name="ns" default="ana" />
<arg name="output" default="log"/>
<arg name="launch_prefix" default=""/>
<arg name="use_nodelets" default="true"/>
<arg name="obstacle_nodelet_manager" default="obstacle_nodelet_manager" />
<arg name="hole_nodelet_manager" default="hole_nodelet_manager" />
<arg name="hole_nodelet_manager" default="hole_nodelet_manager" />
<arg name="camera_cloud_in" default="sensors/nav_cam/depth_registered/points"/>
<arg name="average_node_name" default="average_point_cloud"/>
<arg name="camera_cloud_in" default="sensors/nav_cam/depth_registered/points"/>
<arg name="average_node_name" default="average_point_cloud"/>
<arg name="average_config_file" default="$(find iri_average_point_cloud)/config/default_config.yaml"/>
<arg name="average_cloud_in" default="sensors/nav_cam/depth_registered/points_throttle"/>
<arg name="normals_node_name" default="obstacle_detection_normals"/>
<arg name="normals_node_name" default="obstacle_detection_normals"/>
<arg name="normals_config_file" default="$(find iri_obstacle_detection_normals)/config/default_config.yaml"/>
<arg name="near_hole_detection_node_name" default="near_hole_detection"/>
<arg name="near_hole_detection_node_name" default="near_hole_detection"/>
<arg name="near_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/near_config.yaml"/>
<arg name="hole_detection_cloud_in" default="radius_outlier_removal/output"/>
<arg name="hole_detection_cloud_in" default="radius_outlier_removal/output"/>
<arg name="far_hole_detection_node_name" default="far_hole_detection"/>
<arg name="far_hole_detection_node_name" default="far_hole_detection"/>
<arg name="far_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/far_config.yaml"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<group if="$(arg use_nodelets)">
<include file="$(find iri_rosnav)/launch/include/camera_nodelets.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="ns" value="$(arg ns)"/>
<arg name="obstacle_nodelet_manager" value="$(arg obstacle_nodelet_manager)" />
<arg name="hole_nodelet_manager" value="$(arg hole_nodelet_manager)" />
<arg name="camera_cloud_in" value="$(arg camera_cloud_in)"/>
<arg name="average_node_name" value="$(arg average_node_name)"/>
<arg name="average_config_file" value="$(arg average_config_file)"/>
<arg name="average_cloud_in" value="$(arg average_cloud_in)"/>
<arg name="normals_node_name" value="$(arg normals_node_name)"/>
<arg name="normals_config_file" value="$(arg normals_config_file)"/>
<arg name="near_hole_detection_node_name" value="$(arg near_hole_detection_node_name)"/>
<arg name="hole_nodelet_manager" value="$(arg hole_nodelet_manager)" />
<arg name="camera_cloud_in" value="$(arg camera_cloud_in)"/>
<arg name="average_node_name" value="$(arg average_node_name)"/>
<arg name="average_config_file" value="$(arg average_config_file)"/>
<arg name="normals_node_name" value="$(arg normals_node_name)"/>
<arg name="normals_config_file" value="$(arg normals_config_file)"/>
<arg name="near_hole_detection_node_name" value="$(arg near_hole_detection_node_name)"/>
<arg name="near_hole_detection_config_file" value="$(arg near_hole_detection_config_file)"/>
<arg name="hole_detection_cloud_in" value="$(arg hole_detection_cloud_in)"/>
<arg name="far_hole_detection_node_name" value="$(arg far_hole_detection_node_name)"/>
<arg name="far_hole_detection_config_file" value="$(arg far_hole_detection_config_file)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="output" value="$(arg output)"/>
<arg name="hole_detection_cloud_in" value="$(arg hole_detection_cloud_in)"/>
<arg name="far_hole_detection_node_name" value="$(arg far_hole_detection_node_name)"/>
<arg name="far_hole_detection_config_file" value="$(arg far_hole_detection_config_file)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
</group>
<group unless="$(arg use_nodelets)">
<include file="$(find iri_rosnav)/launch/include/camera_nodes.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="camera_cloud_in" value="$(arg camera_cloud_in)"/>
<arg name="average_node_name" value="$(arg average_node_name)"/>
<arg name="ns" value="$(arg ns)"/>
<arg name="camera_cloud_in" value="$(arg camera_cloud_in)"/>
<arg name="average_node_name" value="$(arg average_node_name)"/>
<arg name="average_config_file" value="$(arg average_config_file)"/>
<arg name="average_cloud_in" value="$(arg average_cloud_in)"/>
<arg name="normals_node_name" value="$(arg normals_node_name)"/>
<arg name="normals_node_name" value="$(arg normals_node_name)"/>
<arg name="normals_config_file" value="$(arg normals_config_file)"/>
<arg name="near_hole_detection_node_name" value="$(arg near_hole_detection_node_name)"/>
<arg name="near_hole_detection_node_name" value="$(arg near_hole_detection_node_name)"/>
<arg name="near_hole_detection_config_file" value="$(arg near_hole_detection_config_file)"/>
<arg name="hole_detection_cloud_in" value="$(arg hole_detection_cloud_in)"/>
<arg name="far_hole_detection_node_name" value="$(arg far_hole_detection_node_name)"/>
<arg name="far_hole_detection_config_file" value="$(arg far_hole_detection_config_file)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="output" value="$(arg output)"/>
<arg name="hole_detection_cloud_in" value="$(arg hole_detection_cloud_in)"/>
<arg name="far_hole_detection_node_name" value="$(arg far_hole_detection_node_name)"/>
<arg name="far_hole_detection_config_file" value="$(arg far_hole_detection_config_file)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
</group>
......
......@@ -2,43 +2,43 @@
<!-- -->
<launch>
<arg name="ns" default="ana" />
<arg name="output" default="log"/>
<arg name="launch_prefix" default=""/>
<arg name="use_nodelets" default="true"/>
<arg name="ns" default="ana" />
<arg name="output" default="log"/>
<arg name="launch_prefix" default=""/>
<arg name="use_nodelets" default="true"/>
<arg name="lidar_nodelet_manager" default="lidar_nodelet_manager"/>
<arg name="lidar_filter_node_name" default="lidar_filter"/>
<arg name="lidar_filter_node_name" default="lidar_filter"/>
<arg name="lidar_filter_config_file" default="$(find iri_point_cloud_angle_filter)/config/default_config.yaml"/>
<arg name="lidar_filter_cloud_in" default="/$(arg ns)/sensors/velodyne_points" />
<arg name="lidar_filter_cloud_in" default="/$(arg ns)/sensors/velodyne_points" />
<arg name="lidar_detector_node_name" default="lidar_detector"/>
<arg name="lidar_detector_node_name" default="lidar_detector"/>
<arg name="lidar_detector_config_file" default="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>
<group if="$(arg use_nodelets)">
<include file="$(find iri_rosnav)/launch/include/lidar_nodelets.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="output" value="$(arg output)"/>
<arg name="ns" value="$(arg ns)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="lidar_nodelet_manager" value="$(arg lidar_nodelet_manager)"/>
<arg name="lidar_filter_node_name" value="$(arg lidar_filter_node_name)"/>
<arg name="lidar_filter_config_file" value="$(arg lidar_filter_config_file)"/>
<arg name="lidar_filter_cloud_in" value="$(arg lidar_filter_cloud_in)" />
<arg name="lidar_detector_node_name" value="$(arg lidar_detector_node_name)"/>
<arg name="lidar_nodelet_manager" value="$(arg lidar_nodelet_manager)"/>
<arg name="lidar_filter_node_name" value="$(arg lidar_filter_node_name)"/>
<arg name="lidar_filter_config_file" value="$(arg lidar_filter_config_file)"/>
<arg name="lidar_filter_cloud_in" value="$(arg lidar_filter_cloud_in)" />
<arg name="lidar_detector_node_name" value="$(arg lidar_detector_node_name)"/>
<arg name="lidar_detector_config_file" value="$(arg lidar_detector_config_file)"/>
</include>
</group>
<group unless="$(arg use_nodelets)">
<include file="$(find iri_rosnav)/launch/include/lidar_nodes.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="output" value="$(arg output)"/>
<arg name="ns" value="$(arg ns)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="lidar_filter_node_name" value="$(arg lidar_filter_node_name)"/>
<arg name="lidar_filter_config_file" value="$(arg lidar_filter_config_file)"/>
<arg name="lidar_filter_cloud_in" value="$(arg lidar_filter_cloud_in)" />
<arg name="lidar_detector_node_name" value="$(arg lidar_detector_node_name)"/>
<arg name="lidar_filter_node_name" value="$(arg lidar_filter_node_name)"/>
<arg name="lidar_filter_config_file" value="$(arg lidar_filter_config_file)"/>
<arg name="lidar_filter_cloud_in" value="$(arg lidar_filter_cloud_in)" />
<arg name="lidar_detector_node_name" value="$(arg lidar_detector_node_name)"/>
<arg name="lidar_detector_config_file" value="$(arg lidar_detector_config_file)"/>
</include>
</group>
......
......@@ -2,7 +2,7 @@
<launch>
<arg name="ns" default="ana"/>
<arg name="ns" default="robot"/>
<arg name="ns2" default="nav3d/camera"/>
<arg name="ns_nav3d" default="$(arg ns)/$(arg ns2)"/>
......@@ -12,7 +12,6 @@
<arg name="average_node_name" default="average_point_cloud"/>
<arg name="average_config_file" default="$(find iri_average_point_cloud)/config/default_config.yaml"/>
<arg name="average_cloud_in" default="sensors/nav_cam/depth_registered/points_throttle"/>
<arg name="normals_node_name" default="obstacle_detection_normals"/>
<arg name="normals_config_file" default="$(find iri_obstacle_detection_normals)/config/default_config.yaml"/>
......@@ -53,7 +52,7 @@
<arg name="node_name" value="$(arg average_node_name)"/>
<arg name="camera_nodelet_manager" value="$(arg obstacle_nodelet_manager)"/>
<arg name="config_file" value="$(arg average_config_file)"/>
<arg name="cloud_in" value="$(arg average_cloud_in)"/>
<arg name="cloud_in" value="$(arg camera_cloud_in)_throttle"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
......@@ -141,23 +140,23 @@
</group>
<include file="$(find iri_point_cloud_hole_detection)/launch/nodelet.launch">
<arg name="ns" value="$(arg ns_nav3d)"/>
<arg name="node_name" value="$(arg near_hole_detection_node_name)"/>
<arg name="ns" value="$(arg ns_nav3d)"/>
<arg name="node_name" value="$(arg near_hole_detection_node_name)"/>
<arg name="camera_nodelet_manager" value="$(arg hole_nodelet_manager)"/>
<arg name="config_file" value="$(arg near_hole_detection_config_file)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" default="$(arg launch_prefix)"/>
<arg name="cloud_in" default="$(arg hole_detection_cloud_in)"/>
<arg name="config_file" value="$(arg near_hole_detection_config_file)"/>
<arg name="cloud_in" value="$(arg hole_detection_cloud_in)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
<include file="$(find iri_point_cloud_hole_detection)/launch/nodelet.launch">
<arg name="ns" value="$(arg ns_nav3d)"/>
<arg name="node_name" value="$(arg far_hole_detection_node_name)"/>
<arg name="ns" value="$(arg ns_nav3d)"/>
<arg name="node_name" value="$(arg far_hole_detection_node_name)"/>
<arg name="camera_nodelet_manager" value="$(arg hole_nodelet_manager)"/>
<arg name="config_file" value="$(arg far_hole_detection_config_file)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" default="$(arg launch_prefix)"/>
<arg name="cloud_in" default="$(arg hole_detection_cloud_in)"/>
<arg name="config_file" value="$(arg far_hole_detection_config_file)"/>
<arg name="cloud_in" value="$(arg hole_detection_cloud_in)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
</launch>
......
......@@ -2,32 +2,31 @@
<launch>
<arg name="ns" default="ana"/>
<arg name="ns2" default="nav3d/camera"/>
<arg name="ns" default="ana"/>
<arg name="ns2" default="nav3d/camera"/>
<arg name="ns_nav3d" default="$(arg ns)/$(arg ns2)"/>
<arg name="obstacle_nodelet_manager" default="obstacle_nodelet_manager" />
<arg name="camera_cloud_in" default="sensors/nav_cam/depth_registered/points"/>
<arg name="average_node_name" default="average_point_cloud"/>
<arg name="average_node_name" default="average_point_cloud"/>
<arg name="average_config_file" default="$(find iri_average_point_cloud)/config/default_config.yaml"/>
<arg name="average_cloud_in" default="sensors/nav_cam/depth_registered/points_throttle"/>
<arg name="normals_node_name" default="obstacle_detection_normals"/>
<arg name="normals_node_name" default="obstacle_detection_normals"/>
<arg name="normals_config_file" default="$(find iri_obstacle_detection_normals)/config/default_config.yaml"/>
<arg name="normals_cloud_in" default="radius_outlier_removal/output"/>
<arg name="normals_cloud_in" default="radius_outlier_removal/output"/>
<arg name="near_hole_detection_node_name" default="near_hole_detection"/>
<arg name="near_hole_detection_node_name" default="near_hole_detection"/>
<arg name="near_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/near_config.yaml"/>
<arg name="hole_detection_cloud_in" default="radius_outlier_removal/output"/>
<arg name="hole_detection_cloud_in" default="radius_outlier_removal/output"/>
<arg name="far_hole_detection_node_name" default="far_hole_detection"/>
<arg name="far_hole_detection_node_name" default="far_hole_detection"/>
<arg name="far_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/far_config.yaml"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="output" default="screen"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<!-- ******************* OBSTACLE DETECTION ********************************** -->
......@@ -40,12 +39,12 @@
</group>
<include file="$(find iri_average_point_cloud)/launch/node.launch">
<arg name="ns" value="$(arg ns_nav3d)"/>
<arg name="node_name" value="$(arg average_node_name)"/>
<arg name="config_file" value="$(arg average_config_file)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" default="$(arg launch_prefix)"/>
<arg name="cloud_in" default="$(arg average_cloud_in)"/>
<arg name="ns" value="$(arg ns_nav3d)"/>
<arg name="node_name" value="$(arg average_node_name)"/>
<arg name="config_file" value="$(arg average_config_file)"/>
<arg name="cloud_in" value="$(arg camera_cloud_in)_throttle"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
<group ns="$(arg ns_nav3d)">
......@@ -118,32 +117,32 @@
</group>
<include file="$(find iri_obstacle_detection_normals)/launch/node.launch">
<arg name="ns" value="$(arg ns_nav3d)"/>
<arg name="node_name" value="$(arg normals_node_name)"/>
<arg name="config_file" value="$(arg normals_config_file)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" default="$(arg launch_prefix)"/>
<arg name="cloud_in" default="$(arg normals_cloud_in)"/>
<arg name="ns" value="$(arg ns_nav3d)"/>
<arg name="node_name" value="$(arg normals_node_name)"/>
<arg name="config_file" value="$(arg normals_config_file)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="cloud_in" value="$(arg normals_cloud_in)"/>
</include>
<!-- **************************** HOLE DETECTION ******************************* -->
<include file="$(find iri_point_cloud_hole_detection)/launch/node.launch">
<arg name="ns" value="$(arg ns_nav3d)"/>
<arg name="node_name" value="$(arg near_hole_detection_node_name)"/>
<arg name="config_file" value="$(arg near_hole_detection_config_file)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" default="$(arg launch_prefix)"/>
<arg name="cloud_in" default="$(arg hole_detection_cloud_in)"/>
<arg name="ns" value="$(arg ns_nav3d)"/>
<arg name="node_name" value="$(arg near_hole_detection_node_name)"/>
<arg name="config_file" value="$(arg near_hole_detection_config_file)"/>
<arg name="cloud_in" value="$(arg hole_detection_cloud_in)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
<include file="$(find iri_point_cloud_hole_detection)/launch/node.launch">
<arg name="ns" value="$(arg ns_nav3d)"/>
<arg name="node_name" value="$(arg far_hole_detection_node_name)"/>
<arg name="config_file" value="$(arg far_hole_detection_config_file)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" default="$(arg launch_prefix)"/>
<arg name="cloud_in" default="$(arg hole_detection_cloud_in)"/>
<arg name="ns" value="$(arg ns_nav3d)"/>
<arg name="node_name" value="$(arg far_hole_detection_node_name)"/>
<arg name="config_file" value="$(arg far_hole_detection_config_file)"/>
<arg name="cloud_in" value="$(arg hole_detection_cloud_in)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
</launch>
......
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