From 76605f1262a648c7e7ee754bda7c0150253407d8 Mon Sep 17 00:00:00 2001 From: Rick Staa <rick.staa@outlook.com> Date: Wed, 25 Aug 2021 15:36:00 +0200 Subject: [PATCH] Add sensor config files for perception tutorial https://ros-planning.github.io/moveit_tutorials/doc/perception_pipeline/perception_pipeline_tutorial.html --- config/sensors_3d.yaml | 2 -- config/sensors_kinect_depthmap.yaml | 11 +++++++++++ config/sensors_kinect_pointcloud.yaml | 9 +++++++++ launch/sensor_manager.launch.xml | 6 ++++-- 4 files changed, 24 insertions(+), 4 deletions(-) delete mode 100644 config/sensors_3d.yaml create mode 100644 config/sensors_kinect_depthmap.yaml create mode 100644 config/sensors_kinect_pointcloud.yaml diff --git a/config/sensors_3d.yaml b/config/sensors_3d.yaml deleted file mode 100644 index 51010a3..0000000 --- a/config/sensors_3d.yaml +++ /dev/null @@ -1,2 +0,0 @@ -sensors: - [] \ No newline at end of file diff --git a/config/sensors_kinect_depthmap.yaml b/config/sensors_kinect_depthmap.yaml new file mode 100644 index 0000000..9538fe0 --- /dev/null +++ b/config/sensors_kinect_depthmap.yaml @@ -0,0 +1,11 @@ +sensors: + - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater + image_topic: /camera/depth_registered/image_raw + queue_size: 5 + near_clipping_plane_distance: 0.3 + far_clipping_plane_distance: 5.0 + shadow_threshold: 0.2 + padding_scale: 4.0 + padding_offset: 0.03 + max_update_rate: 1.0 + filtered_cloud_topic: filtered_cloud diff --git a/config/sensors_kinect_pointcloud.yaml b/config/sensors_kinect_pointcloud.yaml new file mode 100644 index 0000000..92e7095 --- /dev/null +++ b/config/sensors_kinect_pointcloud.yaml @@ -0,0 +1,9 @@ +sensors: + - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater + point_cloud_topic: /camera/depth_registered/points + max_range: 5.0 + point_subsample: 1 + padding_offset: 0.1 + padding_scale: 1.0 + max_update_rate: 1.0 + filtered_cloud_topic: filtered_cloud diff --git a/launch/sensor_manager.launch.xml b/launch/sensor_manager.launch.xml index 17279dd..61db9d9 100644 --- a/launch/sensor_manager.launch.xml +++ b/launch/sensor_manager.launch.xml @@ -2,11 +2,13 @@ <!-- This file makes it easy to include the settings for sensor managers --> - <!-- Params for 3D sensors config --> - <rosparam command="load" file="$(find panda_moveit_config)/config/sensors_3d.yaml" /> + <!-- Params for 3D sensors config: '' | pointcloud | depthmap --> + <arg name="sensor_type" default="" /> + <rosparam if="$(eval arg('sensor_type') != '')" command="load" file="$(find panda_moveit_config)/config/sensors_kinect_$(arg sensor_type).yaml" /> <!-- Params for the octomap monitor --> <!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> --> + <param name="octomap_frame" type="string" value="camera_rgb_optical_frame" /> <param name="octomap_resolution" type="double" value="0.025" /> <param name="max_range" type="double" value="5.0" /> -- GitLab