From 0dc701e3f88444e9f3ef6fb1930ccbc278c960a9 Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Thu, 26 May 2022 12:44:42 +0200
Subject: [PATCH] Increased range filter. Removed imu bad axis trick
---
config/range_filter.yaml | 2 +-
src/collision_manager_alg_node.cpp | 8 ++++----
2 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/config/range_filter.yaml b/config/range_filter.yaml
index 4f398e4..576448f 100644
--- a/config/range_filter.yaml
+++ b/config/range_filter.yaml
@@ -3,7 +3,7 @@ scan_filter_chain:
type: laser_filters/LaserScanRangeFilter
params:
use_message_range_limits: false
- lower_threshold: 2.0
+ lower_threshold: 3.5
upper_threshold: .inf
lower_replacement_value: .inf
upper_replacement_value: .inf
diff --git a/src/collision_manager_alg_node.cpp b/src/collision_manager_alg_node.cpp
index 0bb8904..daa5add 100644
--- a/src/collision_manager_alg_node.cpp
+++ b/src/collision_manager_alg_node.cpp
@@ -178,10 +178,10 @@ void CollisionManagerAlgNode::mainNodeThread(void)
this->rear_icp_srv_.request.rot_angle_estimation = this->front_icp_srv_.request.rot_angle_estimation;
// rotate angle with tf between blink and laser
////////////////////////////////////////////////////////7 uncoment////////////////////////////////////////7
- // if (this->z_axis_blink_front_laser_inv_)
- // this->front_icp_srv_.request.rot_angle_estimation *=-1.0;
- // if (this->z_axis_blink_rear_laser_inv_)
- // this->rear_icp_srv_.request.rot_angle_estimation *=-1.0;
+ if (this->z_axis_blink_front_laser_inv_)
+ this->front_icp_srv_.request.rot_angle_estimation *=-1.0;
+ if (this->z_axis_blink_rear_laser_inv_)
+ this->rear_icp_srv_.request.rot_angle_estimation *=-1.0;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////7
// ROS_INFO_STREAM("CollisionManagerAlgNode::mainNodeThread -> collision detected: angle estimated = " << this->front_icp_srv_.request.rot_angle_estimation);
--
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