diff --git a/bag/generate_trajectory_csv.bash b/bag/generate_trajectory_csv.bash index b90eef1192c71e480be9f39dc59df976e11e6a2a..327693d5d6a805c8d5e7e627c206ce17b1572647 100644 --- a/bag/generate_trajectory_csv.bash +++ b/bag/generate_trajectory_csv.bash @@ -1,7 +1,7 @@ #!/bin/bash -echo "Press CTRL+C to proceed." -trap "pkill -f 'sleep 1h'" INT -trap "set +x ; sleep 1h ; set -x" DEBUG +#echo "Press CTRL+C to proceed." +#trap "pkill -f 'sleep 1h'" INT +#trap "set +x ; sleep 1h ; set -x" DEBUG if [[ -z "${BAG}" ]] then @@ -13,6 +13,7 @@ fi # Starting with E ==> experiment, we extract the poses for yamlfile in $(find ../yaml/trajectory_analysys -maxdepth 1 -type f -printf "%f\n") do + rm recordings/trajectory_recording$yamlname.bag yamlname=${yamlfile%.*} roslaunch wolf_demo_imu2d imu2d_analysys.launch bag:=$BAG\_filtered_notf test:=$yamlfile speed:=1 suffix:=$yamlname if [[ ${yamlname:0:1} == 'G' ]] diff --git a/yaml/trajectory_analysys/G-1_0.yaml b/yaml/trajectory_analysys/G-1_0.yaml index a0ddcb4c8c5a5c8769cb3de2cbd53d25658183f9..7c0cf8ef3dc705d1f3804fa1f28594b07c94c9b3 100644 --- a/yaml/trajectory_analysys/G-1_0.yaml +++ b/yaml/trajectory_analysys/G-1_0.yaml @@ -41,13 +41,14 @@ config: name: "processorodomicp" sensor_name: "scanner_front_left" plugin: "laser" - voting_active: true - min_features_for_keyframe: 10 - min_dist: 999 - min_angle: 999 - min_time: 1 - min_error: 999 - max_points: 0 + keyframe_vote: + voting_active: true + min_features_for_keyframe: 10 + min_dist: 999 + min_angle: 999 + min_time: 1 + min_error: 999 + max_points: 0 follow: "parameters/test_laser_processor.yaml" #- # type: "ProcessorLoopClosureIcp"