Commit c6b3244b authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Add pointcloud_to_laserscan launch and yaml file

parent fd0874d2
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="ns" default="robot"/>
<arg name="config_file" default="$(find iri_rosnav)/params/pointcloud_to_laserscan.yaml" />
<arg name="scan_topic" default="$(arg ns)/scan"/>
<arg name="cloud_topic" default="$(arg ns)/points"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<group ns="$(arg ns)">
<node name="pointcloud_to_laserscan"
pkg ="pointcloud_to_laserscan"
type="pointcloud_to_laserscan_node"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<remap from="/$(arg ns)/scan" to="$(arg scan_topic)"/>
<remap from="/$(arg ns)/cloud_in" to="$(arg cloud_topic)"/>
<rosparam file="$(arg config_file)" command="load" />
</node>
</group>
</launch>
target_frame: ""
# Leave target_frame disabled to output scan in pointcloud frame
transform_tolerance: 0.1
min_height: -0.1
max_height: 0.5
angle_min: -3.14159 #-1.5708 # -M_PI/2
angle_max: 3.14159 #1.5708 # M_PI/2
angle_increment: 0.00335 # M_PI/360.0
scan_time: 0.3333
range_min: 0.1
range_max: 40.0
use_inf: true
# Concurrency level, affects number of pointclouds queued for processing and number of threads used
# 0 : Detect number of cores
# 1 : Single threaded
# 2->inf : Parallelism level
concurrency_level: 1
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