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Commit 6f9523a8 authored by Sergi Hernandez's avatar Sergi Hernandez
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Add launch files

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launch/demo.launch 0 → 100644
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View file @ 6f9523a8
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="ns" default="helena" />
<arg name="model" default="$(arg ns)"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<include file="$(find iri_helena_bringup)/launch/bringup.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
<include file="$(find iri_helena_description)/launch/description.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="model" value="$(arg model)"/>
<arg name="static_wheels" value="true"/>
</include>
<include file="$(find iri_helena_rosnav)/launch/nav_map.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="map_name" value="lab"/>
<arg name="rviz" value="false"/>
</include>
<include file="$(find iri_helena_launch)/launch/ps3_teleop.launch">
</include>
<include file="$(find iri_helena_launch)/launch/people.launch">
</include>
<include file="$(find iri_joy_rosbag_record)/launch/node.launch">
<arg name="node_name" default="joy_rosbag_record"/>
<arg name="joy_topic" default="$(arg ns)/joy"/>
<arg name="status_topic" default="~status"/>
<arg name="config_file" default="$(find iri_helena_launch)/param/joy_rosbag_record_param.yaml"/>
<arg name="default_path" default="$(env HOME)/rosbag"/>
</include>
</launch>
launch/people.launch 0 → 100644
+ 88
− 0
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<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="ROBOT" default="helena" />
<node pkg ="iri_laser_people_detection"
type="iri_laser_people_detection"
name="lpd">
<param name="~rangeThreshold" type="double" value="0.0" />
<param name="~detectionThreshold" type="double" value="-0.05" />
<param name="~boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
<param name="~boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
<param name="~selectPosesFrame" type="bool" value="True" />
<param name="~posesFrame" type="string" value="map" />
<param name="~selectScanFrame" type="bool" value="False" />
<param name="~scanFrame" type="string" value="/$(arg ROBOT)/sensors/scan" />
<param name="~markerWidth" type="double" value="0.7" />
<param name="~markerHeight" type="double" value="0.5" />
<param name="~markerR" type="double" value="1.0" />
<param name="~markerG" type="double" value="0.0" />
<param name="~markerB" type="double" value="0.0" />
<param name="~markerA" type="double" value="0.5" />
<param name="~filterPosesMode" type="bool" value="False" />
<param name="~filterR" type="double" value="0.0" />
<param name="~filterX" type="double" value="0.0" />
<param name="~filterY" type="double" value="0.0" />
<remap from="~scan"
to="/$(arg ROBOT)/sensors/scan" />
<remap from="~people"
to="/$(arg ROBOT)/people" />
</node>
<node pkg ="iri_laser_people_map_filter"
type="iri_laser_people_map_filter"
name="lpmf">
<param name="~/neighborRadius" type="double" value="0.5" />
<param name="~/markerWidth" type="double" value="0.7" />
<param name="~/markerHeight" type="double" value="1.5" />
<param name="~/markerR" type="double" value="1.0" />
<param name="~/markerG" type="double" value="1.0" />
<param name="~/markerB" type="double" value="0.0" />
<param name="~/markerA" type="double" value="0.9" />
<param name="~/markerLifeTime" type="double" value="0.1" />
<remap from="~people"
to="/$(arg ROBOT)/people" />
<remap from="~peopleFiltered"
to="/$(arg ROBOT)/peopleMapFiltered" />
<remap from="~map"
to="/$(arg ROBOT)/map" />
</node>
<node pkg ="iri_people_tracking_mht"
type="iri_people_tracking_mht"
name="mht"
respawn="true">
<remap from="/mht/detections"
to="/$(arg ROBOT)/peopleMapFiltered" />
<remap from="/mht/odom"
to="/$(arg ROBOT)/odom" />
<param name="~/frame_id" type="string" value="/map" />
<param name="local_tracker" type="bool" value="false"/>
<param name="~/association_threshold" type="double" value="2.0" />
<param name="~/confirmation_threshold" type="double" value="0.9" />
<param name="~/deletion_threshold" type="double" value="0.4" />
<param name="~/laser_probability" type="double" value="0.9" />
<param name="~/laser_false_alarm" type="double" value="0.1" />
<param name="~/laser_new_track" type="double" value="0.11" />
<param name="~/laser_no_detection" type="double" value="0.99" />
<param name="~/laser_no_confirmed" type="double" value="0.02" />
<param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
<param name="~/augment_covariance_track" type="double" value="0.15" />
<param name="~/id_markers" type="bool" value="True" />
<param name="~/vel_markers" type="bool" value="True" />
<param name="~/cov_markers" type="bool" value="True" />
<param name="~/covdet_markers" type="bool" value="False" />
<param name="~/covpred_markers" type="bool" value="False" />
<param name="~/clust_markers" type="bool" value="False" />
<param name="~/cov_markers_head" type="bool" value="False" />
<param name="~/cov_markers_arm1" type="bool" value="False" />
<param name="~/cov_markers_arm2" type="bool" value="False" />
<param name="~/track_path_markers" type="bool" value="False" />
<param name="~/mht_velocity_margin" type="double" value="0.5" />
</node>
</launch>
launch/ps3_teleop.launch
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...@@ -5,7 +5,7 @@ ...@@ -5,7 +5,7 @@
<arg name="ns" default="helena" /> <arg name="ns" default="helena" />
<arg name="path" default="$(find iri_teleop_launch)"/> <arg name="path" default="$(find iri_teleop_launch)"/>
<arg name="config_file" default="$(arg path)/config/ps3_bt_teleop.yaml" /> <arg name="config_file" default="$(arg path)/config/ps3_bt_teleop.yaml" />
<arg name="twist_topic" default="/$(arg ns)/cmd_vel"/> <arg name="twist_topic" default="/$(arg ns)/teleop/cmd_vel"/>
<arg name="joy_topic" default="/$(arg ns)/joy"/> <arg name="joy_topic" default="/$(arg ns)/joy"/>
<arg name="run_joy" default="true"/> <arg name="run_joy" default="true"/>
<arg name="device" default="/dev/input/js0" /> <arg name="device" default="/dev/input/js0" />
......
param/joy_rosbag_record_param.yaml 0 → 100644
+ 6
− 0
View file @ 6f9523a8
cmd: "/opt/ros/kinetic/lib/rosbag/record"
args: "/diagnostics /helena/map /helena/map_metadata /helena/odom /helena/sensors/scan /mht/tracks /mht/tracksMarkers /rosout /rosout_agg /tf /tf_static"
path: "home/helena/rosbag"
name_prefix: "data"
start_button_id: 3
stop_button_id: 0
scripts/rosbag_record.sh 0 → 100755
+ 3
− 0
View file @ 6f9523a8
#!/bin/sh
#rosbag record --all -x "(.*)theora(.*)||(.*)compressedDepth(.*)||(.*)parameter_updates(.*)||(.*)parameter_descriptions(.*)||/demo/usb_cam_node/image_raw"
rosbag record /diagnostics /helena/map /helena/map_metadata /helena/odom /helena/sensors/scan /mht/tracks /mht/tracksMarkers /rosout /rosout_agg /tf /tf_static
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