73 lines
4.5 KiB
XML
73 lines
4.5 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="enable_depth_cloud_voxel_filter" default="true"/>
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<arg name="depth_cloud_voxel_leaf_size" default="0.10"/>
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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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<arg name="publish_rate" default="5.0"/>
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<arg name="rviz" default="true"/>
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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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<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="publish_rate" value="$(arg publish_rate)"/>
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<param name="odom_topic" value="$(arg odom_topic)"/>
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<param name="depth_cloud_topic" value="$(arg depth_cloud_topic)"/>
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<param name="enable_depth_cloud_voxel_filter" value="$(arg enable_depth_cloud_voxel_filter)"/>
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<param name="depth_cloud_voxel_leaf_size" value="$(arg depth_cloud_voxel_leaf_size)"/>
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<param name="depth_image_topic" value="$(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="$(arg global_frame)"/>
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<param name="local_costmap/obstacles/observation_sources" value="pc_marking pc_clearing"/>
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<param name="local_costmap/obstacles/pc_marking/topic" value="$(arg depth_cloud_topic)"/>
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<param name="local_costmap/obstacles/pc_marking/data_type" value="PointCloud2"/>
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<param name="local_costmap/obstacles/pc_marking/clearing" value="false"/>
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<param name="local_costmap/obstacles/pc_marking/marking" value="true"/>
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<param name="local_costmap/obstacles/pc_marking/inf_is_valid" value="false"/>
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<param name="local_costmap/obstacles/pc_marking/frustum_clearing_enabled" value="false"/>
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<param name="local_costmap/obstacles/pc_marking/observation_persistence" value="0.0"/>
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<param name="local_costmap/obstacles/pc_marking/expected_update_rate" value="0.5"/>
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<param name="local_costmap/obstacles/pc_marking/obstacle_range" value="2.5"/>
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<param name="local_costmap/obstacles/pc_marking/raytrace_range" value="3.0"/>
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<param name="local_costmap/obstacles/pc_marking/min_obstacle_height" value="0.1"/>
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<param name="local_costmap/obstacles/pc_marking/max_obstacle_height" value="1.0"/>
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<param name="local_costmap/obstacles/pc_clearing/topic" value="$(arg depth_camera_data_topic)"/>
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<param name="local_costmap/obstacles/pc_clearing/data_type" value="DepthCameraData"/>
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<param name="local_costmap/obstacles/pc_clearing/clearing" value="false"/>
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<param name="local_costmap/obstacles/pc_clearing/marking" value="true"/>
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<param name="local_costmap/obstacles/pc_clearing/inf_is_valid" value="false"/>
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<param name="local_costmap/obstacles/pc_clearing/frustum_clearing_enabled" value="true"/>
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<param name="local_costmap/obstacles/pc_clearing/frustum_clearing_pixel_step" value="8"/>
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<param name="local_costmap/obstacles/pc_clearing/frustum_min_range" value="0.20"/>
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<param name="local_costmap/obstacles/pc_clearing/frustum_max_range" value="3.5"/>
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<param name="local_costmap/obstacles/pc_clearing/observation_persistence" value="0.0"/>
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<param name="local_costmap/obstacles/pc_clearing/expected_update_rate" value="0.5"/>
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<param name="local_costmap/obstacles/pc_clearing/obstacle_range" value="2.5"/>
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<param name="local_costmap/obstacles/pc_clearing/raytrace_range" value="3.5"/>
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<param name="local_costmap/obstacles/pc_clearing/min_obstacle_height" value="0.1"/>
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<param name="local_costmap/obstacles/pc_clearing/max_obstacle_height" value="1.0"/>
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<param name="local_costmap/obstacles/frustum_depth_camera_topic" value="$(arg depth_camera_data_topic)"/>
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</node>
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<node if="$(arg rviz)"
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pkg="rviz"
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type="rviz"
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name="depth_local_costmap_rviz"
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args="-d $(find depth_local_costmap_noetic_test)/rviz/depth_local_costmap.rviz"/>
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</launch>
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