DuongTD/depth_local_costmap_noetic_test
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

test costmap + cam depth

Browse Source
This commit is contained in:
duongtd
2026-07-21 14:24:31 +07:00
parent af99998d2e
commit 11164970e2
6 changed files with 270 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
launch/depth_local_costmap_test.launch
View File

@@ -8,6 +8,8 @@
<arg name="camera_right_info_topic" default="/camera_right/depth/camera_info"/>
<arg name="odom_topic" default="/odom"/>
<arg name="publish_odom_tf" default="false"/>
<arg name="publish_rate" default="5.0"/>
<arg name="rviz" default="true"/>
<node pkg="depth_local_costmap_noetic_test"
type="depth_local_costmap_noetic_test_node"
@@ -15,6 +17,7 @@
output="screen">
<param name="base_frame" value="$(arg base_frame)"/>
<param name="publish_odom_tf" value="$(arg publish_odom_tf)"/>
<param name="publish_rate" value="$(arg publish_rate)"/>
<param name="odom_topic" value="$(arg odom_topic)"/>
<param name="depth_cloud_topic" value="$(arg depth_cloud_topic)"/>
<param name="depth_image_topic" value="$(arg depth_image_topic)"/>
@@ -56,4 +59,10 @@
<param name="local_costmap/obstacles/pc_clearing/max_obstacle_height" value="1.0"/>
<param name="local_costmap/obstacles/frustum_depth_camera_topic" value="$(arg depth_camera_data_topic)"/>
</node>
<node if="$(arg rviz)"
pkg="rviz"
type="rviz"
name="depth_local_costmap_rviz"
args="-d $(find depth_local_costmap_noetic_test)/rviz/depth_local_costmap.rviz"/>
</launch>