From b822a16142dce9da1e84a55713733fccfb113c28 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Mon, 27 Jan 2020 13:26:27 +0100
Subject: [PATCH] Update pointcloud_to_laserscan launch file: parameters load
from params/pointcloud_to_laserscan.yaml file
---
launch/include/pointcloud_to_laserscan.launch | 21 ++-----------------
params/pointcloud_to_laserscan.yaml | 18 ++++++++++++++++
2 files changed, 20 insertions(+), 19 deletions(-)
create mode 100644 params/pointcloud_to_laserscan.yaml
diff --git a/launch/include/pointcloud_to_laserscan.launch b/launch/include/pointcloud_to_laserscan.launch
index bbc0542..37f6a23 100644
--- a/launch/include/pointcloud_to_laserscan.launch
+++ b/launch/include/pointcloud_to_laserscan.launch
@@ -3,6 +3,7 @@
<launch>
<arg name="ns" default="robot"/>
+ <arg name="config_file" default="$(find iri_ana_rosnav)/params/pointcloud_to_laserscan.yaml" />
<arg name="scan_topic" default="$(arg ns)/scan"/>
<arg name="cloud_topic" default="$(arg ns/points"/>
<arg name="output" default="screen" />
@@ -17,25 +18,7 @@
launch-prefix="$(arg launch_prefix)">
<remap from="/$(arg ns)/scan" to="$(arg scan_topic)"/>
<remap from="/$(arg ns)/cloud_in" to="$(arg cloud_topic)"/>
- <rosparam>
- target_frame: "" #camera_link # Leave disabled to output scan in pointcloud frame
- transform_tolerance: 0.01
- min_height: -0.125
- max_height: 0.125
- angle_min: -3.14159 #-1.5708 # -M_PI/2
- angle_max: 3.14159 #1.5708 # M_PI/2
- angle_increment: 0.0087 # 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
- </rosparam>
+ <rosparam file="$(arg config_file)" command="load" />
</node>
</group>
diff --git a/params/pointcloud_to_laserscan.yaml b/params/pointcloud_to_laserscan.yaml
new file mode 100644
index 0000000..c717652
--- /dev/null
+++ b/params/pointcloud_to_laserscan.yaml
@@ -0,0 +1,18 @@
+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: 0.0087 # 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
\ No newline at end of file
--
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