Commit 5f4b09c0 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Added launch and configuration files of rthe 3D navigation.

parent cfe4f635
<?xml version="1.0"?>
<!-- -->
<launch>
<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="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="$(find iri_average_point_cloud)/config/default_config.yaml"/>
<arg name="normals_node_name" default="obstacle_detection_normals"/>
<arg name="normals_config_file" default="$(find iri_nav_obstacle_detection_normals)/config/default_config.yaml"/>
<arg name="near_hole_detection_node_name" default="near_hole_detection"/>
<arg name="near_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/near_config.yaml"/>
<arg name="hole_detection_cloud_in" default="radius_outlier_removal/output"/>
<arg name="far_hole_detection_node_name" default="far_hole_detection"/>
<arg name="far_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/far_config.yaml"/>
<group if="$(arg use_nodelets)">
<include file="$(find iri_3dnav)/launch/include/camera_nodelets.launch">
<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="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="$(arg far_hole_detection_config_file)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
</group>
<group unless="$(arg use_nodelets)">
<include file="$(find iri_3dnav)/launch/include/camera_nodelets.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="camera_cloud_in" value="$(arg camera_cloud_in)"/>
<arg name="average_node_name" value="$(arg average_node_name)"/>
<arg name="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="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
</group>
</launch>
<?xml version="1.0"?>
<!-- -->
<launch>
<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_config_file" default="$(find iri_point_cloud_angle_filter)/config/default_config.yaml"/>
<arg name="lidar_filter_cloud_in" default="/ana/sensors/velodyne_points" />
<arg name="lidar_detector_node_name" default="lidar_detector"/>
<arg name="lidar_detector_config_file" default="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>
<group if="$(arg use_nodelets)">
<include file="$(find iri_3dnav)/launch/include/lidar_nodelets.launch">
<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_detector_config_file" value="$(arg lidar_detector_config_file)"/>
</include>
</group>
<group unless="$(arg use_nodelets)">
<include file="$(find iri_3dnav)/launch/include/lidar_nodes.launch">
<arg name="ns" value="$(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_detector_config_file" value="$(arg lidar_detector_config_file)"/>
</include>
</group>
</launch>
obstacle_layer_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 100.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: camera_marking
camera_marking: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud,
topic: /robot/point_cloud_obs,
observation_persistence: 0.0,
marking: true,
clearing: true,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_layer_near_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 100.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: hole_near_marking hole_near_clearing
hole_near_marking: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud2,
topic: /robot/point_cloud_mark_near,
observation_persistence: 0.0,
marking: true,
clearing: false,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_near_clearing: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud2,
topic: /robot/point_cloud_clear_near,
observation_persistence: 0.0,
marking: false,
clearing: true,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_layer_far_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 100.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: hole_far_marking hole_far_clearing
hole_far_marking: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud2,
topic: /robot/point_cloud_mark_far,
observation_persistence: 0.0,
marking: true,
clearing: false,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_far_clearing: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud2,
topic: /robot/point_cloud_clear_far,
observation_persistence: 0.0,
marking: false,
clearing: true,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
obstacle_layer_lidar:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 10.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: lidar_marking
lidar_marking: {
sensor_frame: /robot/base_footprint,
data_type: LaserScan,
topic: /robot/scan,
observation_persistence: 0.0,
marking: true,
clearing: true,
min_obstacle_height: -10.0,
max_obstacle_height: 10.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 200.0
}
#local_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: robot/odom
update_frequency: 5.0
publish_frequency: 2.0
rolling_window: true
width: 10.0
height: 10.0
resolution: 0.1
#origin_x: 0.0
#origin_y: 0.0
#costmap plugins
plugins:
- {name: obstacle_layer_lidar, type: "costmap_2d::ObstacleLayer"}
- {name: obstacle_layer_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_near_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_far_camera, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
#global_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: map
update_frequency: 1.0
publish_frequency: 1.0
rolling_window: false
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer_lidar, type: "costmap_2d::ObstacleLayer"}
- {name: obstacle_layer_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_near_camera,type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_far_camera, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
static_layer:
enabled: true
map_topic: /map
first_map_only: false
subscribe_to_updates: false
unknown_cost_value: -1
use_maximum: false
lethal_cost_threshold: 100
track_unknown_space: true
trinary_costmap: true
#global_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: /robot/odom
update_frequency: 1.0
publish_frequency: 0.0
rolling_window: true
transform_tolerance: 1.0
width: 20.0
height: 20.0
resolution: 0.2
origin_x: 0.0
origin_y: 0.0
plugins:
- {name: obstacle_layer_lidar, type: "costmap_2d::ObstacleLayer"}
- {name: obstacle_layer_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_near_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_far_camera, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
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