From a2ccd7e70ad90b1e4e613b660d7f107dbe95f8c6 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 7 Jun 2021 18:44:43 +0200
Subject: [PATCH] Added a new argument to choose the navigation camera to use.
---
config/lidar_angle_filter_config.yaml | 2 ++
launch/3d_nav_map.launch | 2 ++
launch/3d_nav_nomap.launch | 2 ++
launch/include/3d_nav.launch | 3 ++-
4 files changed, 8 insertions(+), 1 deletion(-)
diff --git a/config/lidar_angle_filter_config.yaml b/config/lidar_angle_filter_config.yaml
index d7af148..9914704 100644
--- a/config/lidar_angle_filter_config.yaml
+++ b/config/lidar_angle_filter_config.yaml
@@ -1 +1,3 @@
n_pairs: 0
+ranges:
+ - range1
diff --git a/launch/3d_nav_map.launch b/launch/3d_nav_map.launch
index 25a2240..b552dba 100644
--- a/launch/3d_nav_map.launch
+++ b/launch/3d_nav_map.launch
@@ -5,6 +5,7 @@
<arg name="name" default="ana"/>
<arg name="use_3d_nav_nodelets" default="true"/>
+ <arg name="nav_camera" default="nav_cam"/>
<arg name="path" default="$(find iri_ana_rosnav)/params"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
@@ -30,6 +31,7 @@
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="use_nodelets" value="$(arg use_3d_nav_nodelets)"/>
+ <arg name="nav_camera" value="$(arg nav_camera)"/>
</include>
<include file="$(find iri_ana_rosnav)/launch/nav_map.launch">
diff --git a/launch/3d_nav_nomap.launch b/launch/3d_nav_nomap.launch
index 685c0b2..963c57a 100644
--- a/launch/3d_nav_nomap.launch
+++ b/launch/3d_nav_nomap.launch
@@ -5,6 +5,7 @@
<arg name="name" default="ana"/>
<arg name="use_3d_nav_nodelets" default="true"/>
+ <arg name="nav_camera" default="nav_cam_top"/>
<arg name="path" default="$(find iri_ana_rosnav)/params"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
@@ -30,6 +31,7 @@
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="use_nodelets" value="$(arg use_3d_nav_nodelets)"/>
+ <arg name="nav_camera" value="$(arg nav_camera)"/>
</include>
<include file="$(find iri_ana_rosnav)/launch/nav_nomap.launch">
diff --git a/launch/include/3d_nav.launch b/launch/include/3d_nav.launch
index e2cee4c..759a1d8 100644
--- a/launch/include/3d_nav.launch
+++ b/launch/include/3d_nav.launch
@@ -5,6 +5,7 @@
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="use_nodelets" default="true"/>
+ <arg name="nav_camera" default="nav_cam"/>
<include file="$(find iri_rosnav)/launch/include/3d_nav_lidar.launch">
<arg name="ns" value="ana"/>
@@ -26,7 +27,7 @@
<arg name="use_nodelets" value="$(arg use_nodelets)"/>
<arg name="obstacle_nodelet_manager" value="obstacle_nodelet_manager" />
<arg name="hole_nodelet_manager" value="hole_nodelet_manager" />
- <arg name="camera_cloud_in" value="sensors/nav_cam/depth_registered/points"/>
+ <arg name="camera_cloud_in" value="sensors/$(arg nav_camera)/depth_registered/points"/>
<arg name="average_node_name" value="average_point_cloud"/>
<arg name="average_config_file" value="$(find iri_ana_rosnav)/config/camera_average_filter_config.yaml"/>
<arg name="normals_node_name" value="obstacle_detection_normals"/>
--
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