Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Gepetto
aicp_mapping
Commits
83bd4bf1
Unverified
Commit
83bd4bf1
authored
Jun 23, 2020
by
Guilhem Saurel
Committed by
GitHub
Jun 23, 2020
Browse files
Merge pull request #1 from TLasguignes/topic/make_adaptable
[launch files] add arguments for talos use.
parents
7d0a0831
e3fc5591
Changes
2
Hide whitespace changes
Inline
Side-by-side
aicp_ros/launch/aicp.launch
View file @
83bd4bf1
...
...
@@ -5,7 +5,8 @@
<arg
name=
"registration_config_file"
default=
"$(find aicp_core)/config/icp/icp_autotuned.yaml"
/>
<arg
name=
"aicp_config_file"
default=
"$(find aicp_core)/config/aicp_config.yaml"
/>
<arg
name=
"fixed_frame"
default=
"map"
/>
<arg
name=
"map_from_file_path"
default=
"$(find gazebo_worlds_drs)/point_clouds/fire_college.ply"
/>
<!-- <arg name="map_from_file_path" default="$(find gazebo_worlds_drs)/point_clouds/fire_college.ply"/> -->
<arg
name=
"map_from_file_path"
default=
""
/>
<arg
name=
"load_map_from_file"
default=
"false"
/>
<arg
name=
"localize_against_prior_map"
default=
"false"
/>
<arg
name=
"localize_against_built_map"
default=
"false"
/>
...
...
@@ -20,6 +21,11 @@
<arg
name=
"saveProbs"
default=
"$(find aicp_core)/data/classification/probs_opencv3.txt"
/>
<arg
name=
"modelLocation"
default=
"$(find aicp_core)/data/models/svm_opencv3.xml"
/>
<arg
name=
"lidar_channel"
default=
"/point_cloud_filter/velodyne/point_cloud_filtered"
/>
<arg
name=
"batch_size"
default=
"7"
/>
<arg
name=
"inertial_frame"
default=
"/odom"
/>
<arg
name=
"pose_odom"
default=
"/state_estimator/pose_in_odom"
/>
<arg
name=
"write_input_clouds_to_file"
default=
"false"
/>
<arg
name=
"process_input_clouds_from_file"
default=
"false"
/>
...
...
@@ -38,7 +44,12 @@
<param
name=
"fixed_frame"
value=
"$(arg fixed_frame)"
/>
<!-- default is /aicp/pose_corrected -->
<param
name=
"output_channel"
value=
"/aicp/pose_corrected"
/>
<param
name=
"lidar_channel"
value=
"/point_cloud_filter/velodyne/point_cloud_filtered"
/>
<param
name=
"inertial_frame"
value=
"$(arg inertial_frame)"
/>
<param
name=
"pose_body_channel"
value=
"$(arg pose_odom)"
/>
<param
name=
"lidar_channel"
value=
"$(arg lidar_channel)"
/>
<!-- Prior map info -->
<param
name=
"load_map_from_file"
value=
"$(arg load_map_from_file)"
/>
...
...
@@ -65,7 +76,7 @@
<param
name=
"max_queue_size"
value=
"1"
/>
<!-- 3D point cloud characteristics -->
<param
name=
"batch_size"
value=
"
7
"
/>
<param
name=
"batch_size"
value=
"
$(arg batch_size)
"
/>
<!-- Visualize and store -->
<param
name=
"verbose"
value=
"false"
/>
...
...
aicp_ros/launch/aicp_mapping.launch
View file @
83bd4bf1
...
...
@@ -13,6 +13,11 @@
<arg
name=
"process_input_clouds_from_file"
default=
"false"
/>
<arg
name=
"process_input_clouds_folder"
default=
"/tmp/aicp_data"
/>
<arg
name=
"lidar_channel"
default=
"/point_cloud_filter/velodyne/point_cloud_filtered"
/>
<arg
name=
"batch_size"
default=
"7"
/>
<arg
name=
"pose_odom"
default=
"/state_estimator/pose_in_odom"
/>
<arg
name=
"inertial_frame"
default=
"/odom"
/>
<include
file=
"$(find aicp_ros)/launch/aicp.launch"
>
<arg
name=
"load_map_from_file"
value=
"$(arg load_map_from_file)"
/>
<arg
name=
"localize_against_prior_map"
value=
"$(arg localize_against_prior_map)"
/>
...
...
@@ -21,6 +26,13 @@
<arg
name=
"write_input_clouds_to_file"
value=
"$(arg write_input_clouds_to_file)"
/>
<arg
name=
"process_input_clouds_from_file"
value=
"$(arg process_input_clouds_from_file)"
/>
<arg
name=
"process_input_clouds_folder"
value=
"$(arg process_input_clouds_folder)"
/>
<arg
name=
"lidar_channel"
value=
"$(arg lidar_channel)"
/>
<arg
name=
"batch_size"
value=
"$(arg batch_size)"
/>
<arg
name=
"pose_odom"
value=
"$(arg pose_odom)"
/>
<arg
name=
"inertial_frame"
value=
"$(arg inertial_frame)"
/>
<arg
name=
"fixed_frame"
value=
"$(arg fixed_frame)"
/>
</include>
<group
if=
"$(arg load_map_from_file)"
>
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment