From ed3cdebb6f3b5eaaf0d63e97a814b1d12ae23ff6 Mon Sep 17 00:00:00 2001
From: Idril Geer <igeer@iri.upc.edu>
Date: Tue, 8 Feb 2022 20:48:13 +0100
Subject: [PATCH] script works
---
bag/generate_trajectory_csv.bash | 7 ++++---
yaml/trajectory_analysys/G-1_0.yaml | 15 ++++++++-------
2 files changed, 12 insertions(+), 10 deletions(-)
diff --git a/bag/generate_trajectory_csv.bash b/bag/generate_trajectory_csv.bash
index b90eef1..327693d 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 a0ddcb4..7c0cf8e 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"
--
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