48 lines
2.8 KiB
XML
48 lines
2.8 KiB
XML
<launch>
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<arg name="base_frame" default="base_link"/>
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<arg name="global_frame" default="odom"/>
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<arg name="depth_cloud_topic" default="/camera/depth/points_proc"/>
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<arg name="depth_image_topic" default="/camera/depth/image_raw"/>
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<arg name="camera_info_topic" default="/camera/depth/camera_info"/>
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<arg name="depth_camera_data_topic" default="/camera/depth/data"/>
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<arg name="camera_right_info_topic" default="/camera_right/depth/camera_info"/>
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<arg name="odom_topic" default="/odom"/>
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<arg name="publish_odom_tf" default="false"/>
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<node pkg="depth_local_costmap_noetic_test"
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type="depth_local_costmap_noetic_test_node"
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name="depth_local_costmap_noetic_test"
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output="screen">
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<env name="PNKX_NAV_CORE_CONFIG_DIR" value="$(find depth_local_costmap_noetic_test)"/>
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<param name="base_frame" value="$(arg base_frame)"/>
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<param name="publish_odom_tf" value="$(arg publish_odom_tf)"/>
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<param name="odom_topic" value="$(arg odom_topic)"/>
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<param name="depth_cloud_topic" value="$(arg depth_cloud_topic)"/>
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<param name="depth_image_topic" value="$(arg depth_image_topic)"/>
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<param name="camera_info_topic" value="$(arg camera_info_topic)"/>
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<param name="depth_camera_data_topic" value="$(arg depth_camera_data_topic)"/>
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<param name="camera_right_info_topic" value="$(arg camera_right_info_topic)"/>
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<param name="local_costmap/robot_base_frame" value="$(arg base_frame)"/>
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<param name="local_costmap/global_frame" value="$(arg global_frame)"/>
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<param name="local_costmap/voxel_layer/observation_sources" value="pc_marking pc_clearing"/>
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<param name="local_costmap/voxel_layer/pc_marking/topic" value="$(arg depth_cloud_topic)"/>
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<param name="local_costmap/voxel_layer/pc_marking/data_type" value="PointCloud2"/>
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<param name="local_costmap/voxel_layer/pc_marking/clearing" value="false"/>
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<param name="local_costmap/voxel_layer/pc_marking/marking" value="true"/>
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<param name="local_costmap/voxel_layer/pc_marking/frustum_clearing_enabled" value="false"/>
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<param name="local_costmap/voxel_layer/pc_clearing/topic" value="$(arg depth_camera_data_topic)"/>
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<param name="local_costmap/voxel_layer/pc_clearing/data_type" value="DepthCameraData"/>
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<param name="local_costmap/voxel_layer/pc_clearing/clearing" value="false"/>
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<param name="local_costmap/voxel_layer/pc_clearing/marking" value="true"/>
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<param name="local_costmap/voxel_layer/pc_clearing/frustum_clearing_enabled" value="true"/>
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<param name="local_costmap/voxel_layer/pc_clearing/frustum_clearing_pixel_step" value="8"/>
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<param name="local_costmap/voxel_layer/pc_clearing/frustum_min_range" value="0.20"/>
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<param name="local_costmap/voxel_layer/pc_clearing/frustum_max_range" value="3.5"/>
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<param name="local_costmap/voxel_layer/frustum_depth_camera_topic" value="$(arg depth_camera_data_topic)"/>
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</node>
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</launch>
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