DuongTD/depth_local_costmap_noetic_test
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add pcl

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duongtd
2026-07-21 14:53:10 +07:00
parent bb461b263d
commit 88cf78d66e
5 changed files with 72 additions and 2 deletions
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launch/depth_local_costmap_test.launch
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@@ -2,6 +2,8 @@
<arg name="base_frame" default="base_link"/>
<arg name="global_frame" default="odom"/>
<arg name="depth_cloud_topic" default="/camera/depth/points_proc"/>
<arg name="enable_depth_cloud_voxel_filter" default="true"/>
<arg name="depth_cloud_voxel_leaf_size" default="0.10"/>
<arg name="depth_image_topic" default="/camera/depth/image_raw"/>
<arg name="camera_info_topic" default="/camera/depth/camera_info"/>
<arg name="depth_camera_data_topic" default="/camera/depth/data"/>
@@ -20,6 +22,8 @@
<param name="publish_rate" value="$(arg publish_rate)"/>
<param name="odom_topic" value="$(arg odom_topic)"/>
<param name="depth_cloud_topic" value="$(arg depth_cloud_topic)"/>
<param name="enable_depth_cloud_voxel_filter" value="$(arg enable_depth_cloud_voxel_filter)"/>
<param name="depth_cloud_voxel_leaf_size" value="$(arg depth_cloud_voxel_leaf_size)"/>
<param name="depth_image_topic" value="$(arg depth_image_topic)"/>
<param name="camera_info_topic" value="$(arg camera_info_topic)"/>
<param name="depth_camera_data_topic" value="$(arg depth_camera_data_topic)"/>