From 0145424a3afb4e9dad1fdf05b04cc4fe36f62467 Mon Sep 17 00:00:00 2001
From: alopez <alopez@iri.upc.edu>
Date: Fri, 21 May 2021 13:19:04 +0200
Subject: [PATCH] Added lidar_angle_filter_config.yaml and adapted launch file
---
config/lidar_angle_filter_config.yaml | 22 ++++++++++++++++++++++
launch/include/3d_nav.launch | 2 +-
2 files changed, 23 insertions(+), 1 deletion(-)
create mode 100644 config/lidar_angle_filter_config.yaml
diff --git a/config/lidar_angle_filter_config.yaml b/config/lidar_angle_filter_config.yaml
new file mode 100644
index 0000000..6adc076
--- /dev/null
+++ b/config/lidar_angle_filter_config.yaml
@@ -0,0 +1,22 @@
+n_pairs: 5
+ranges:
+ - range1
+ - range2
+ - range3
+ - range4
+ - range5
+range1:
+ min: -0.1
+ max: 0.1
+range2:
+ min: -1.1
+ max: -0.9
+range3:
+ min: 0.9
+ max: 1.1
+range4:
+ min: -2.2
+ max: -2.0
+range4:
+ min: 2.0
+ max: 2.2
diff --git a/launch/include/3d_nav.launch b/launch/include/3d_nav.launch
index 98ac77c..71ec35a 100644
--- a/launch/include/3d_nav.launch
+++ b/launch/include/3d_nav.launch
@@ -13,7 +13,7 @@
<arg name="use_nodelets" value="$(arg use_nodelets)"/>
<arg name="lidar_nodelet_manager" value="lidar_nodelet_manager"/>
<arg name="lidar_filter_node_name" value="lidar_filter"/>
- <arg name="lidar_filter_config_file" value="$(find iri_point_cloud_angle_filter)/config/default_config.yaml"/>
+ <arg name="lidar_filter_config_file" value="$(find iri_helena_rosnav)/config/lidar_angle_filter_config.yaml"/>
<arg name="lidar_filter_cloud_in" value="/helena/sensors/rslidar_points" />
<arg name="lidar_detector_node_name" value="lidar_detector"/>
<arg name="lidar_detector_config_file" value="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>
--
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