From ba05c7fe91b7491b2bf254f6460b94efdfaf0360 Mon Sep 17 00:00:00 2001
From: Ridhwan Luthra <luthraridhwan@gmail.com>
Date: Tue, 13 Nov 2018 16:04:41 +0530
Subject: [PATCH] Edits to match perception tutorial (#4)
Rename camera to match perception tutorial: https://github.com/ros-planning/moveit_tutorials/pull/178.
---
config/sensors_kinect_depthmap.yaml | 3 ++-
config/sensors_kinect_pointcloud.yaml | 3 ++-
launch/sensor_manager.launch.xml | 6 +++++-
3 files changed, 9 insertions(+), 3 deletions(-)
diff --git a/config/sensors_kinect_depthmap.yaml b/config/sensors_kinect_depthmap.yaml
index 68b7f06..9538fe0 100644
--- a/config/sensors_kinect_depthmap.yaml
+++ b/config/sensors_kinect_depthmap.yaml
@@ -1,10 +1,11 @@
sensors:
- sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
- image_topic: /head_mount_kinect/depth_registered/image_raw
+ 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
index 1033442..92e7095 100644
--- a/config/sensors_kinect_pointcloud.yaml
+++ b/config/sensors_kinect_pointcloud.yaml
@@ -1,8 +1,9 @@
sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
- point_cloud_topic: /head_mount_kinect/depth_registered/points
+ 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 616fcf0..67aa2fd 100644
--- a/launch/sensor_manager.launch.xml
+++ b/launch/sensor_manager.launch.xml
@@ -2,9 +2,13 @@
<!-- This file makes it easy to include the settings for sensor managers -->
+ <!-- Param for kinect config -->
+ <rosparam command="load" file="$(find panda_moveit_config)/config/sensors_kinect_pointcloud.yaml" />
+
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
- <param name="octomap_resolution" type="double" value="0.025" />
+ <param name="octomap_frame" type="string" value="camera_rgb_optical_frame" />
+ <param name="octomap_resolution" type="double" value="0.05" />
<param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
--
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