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move launch and config files to cob_robots

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1 parent 15f0158 commit 8d09c7ca166b0767fb0f54b7784ae81028c6c995 @ipa-mig ipa-mig committed Apr 24, 2012
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1 cob_collision_velocity_filter/CMakeLists.txt
@@ -34,4 +34,3 @@ INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/ros/include)
rosbuild_add_executable(collision_velocity_filter ros/src/cob_collision_velocity_filter.cpp)
# rostest
-rosbuild_add_roslaunch_check(ros/launch)
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1 cob_collision_velocity_filter/manifest.xml
@@ -13,7 +13,6 @@
<depend package="move_base_msgs"/>
<depend package="nav_msgs"/>
<depend package="tf"/>
- <depend package="costmap_2d"/>
<depend package="cob_footprint_observer"/>
</package>
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19 cob_collision_velocity_filter/ros/config/collision_velocity_filter_params.yaml
@@ -1,19 +0,0 @@
-#where to look for costmap parameters
-costmap_parameter_source: "/local_costmap_node/costmap" #default "/local_costmap_node/costmap"
-
-#frequency at which the get_footprint service should be called
-footprint_update_frequency: 0.5
-
-#Parameters specifying slow down behaviour
-pot_ctrl_vmax: 0.6 #default: 0.6
-pot_ctrl_vtheta_max: 0.6 #default: 0.8
-pot_ctrl_kv: 2.5 #damping default: 1.0
-pot_ctrl_kp: 3.0 #stiffness default: 2.0
-pot_ctrl_virt_mass: 0.5 #default: 0.8
-max_acceleration: [0.5, 0.5, 0.7]
-
-#Parameters specifying collision velocity filter
-influence_radius: 2.0 #[m] distance from robot_center
-obstacle_damping_dist: 1.0 # used as slow-down dist
-stop_threshold: 0.1 #[m]
-use_circumscribed_threshold: 0.2 #[rad/s] scan for obstacles in circumscribed radius of robot even when tube filter is enabled during fast rotations
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9 cob_collision_velocity_filter/ros/config/footprint_observer_params.yaml
@@ -1,9 +0,0 @@
-# node from which initial footprint is read
-footprint_source: /local_costmap_node/costmap
-
-#
-robot_base_frame: /base_link
-# wait until tf from robot_base_frame to farthest_frame is available
-farthest_frame: /sdh_tip_link
-# frames to check for footprint adjustment
-frames_to_check: /sdh_tip_link /arm_6_link /arm_4_link
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31 cob_collision_velocity_filter/ros/config/local_costmap_params.yaml
@@ -1,31 +0,0 @@
-# global information
-global_frame: /base_link
-robot_base_frame: /base_footprint
-update_frequency: 5.0
-publish_frequency: 5.0
-map_type: costmap
-
-# local map settings
-static_map: false
-rolling_window: true
-width: 5.0
-height: 5.0
-resolution: 0.07
-
-# footprint and range
-obstacle_range: 3.0 #[m]
-max_obstacle_height: 2.0 #[m]
-raytrace_range: 3.0 #3.0 #[m]
-footprint: [[0.43, 0.35], [0.43, -0.35], [-0.43, -0.35],[-0.43, 0.35]] #[m]
-footprint_padding: 0.02 #[m]
-inflation_radius: 0.55 #[m]
-
-# sensor setup
-observation_sources: laser_scan_sensor_front laser_scan_sensor_rear laser_scan_sensor_top #point_cloud_sensor_kinect
-laser_scan_sensor_front: {sensor_frame: base_laser_front_link, data_type: LaserScan, topic: scan_front, marking: true, clearing: true}
-
-laser_scan_sensor_rear: {sensor_frame: base_laser_rear_link, data_type: LaserScan, topic: scan_rear, marking: true, clearing: true}
-
-laser_scan_sensor_top: {sensor_frame: base_laser_top_link, data_type: LaserScan, topic: scan_top, marking: true, clearing: true}
-
-point_cloud_sensor_kinect: {sensor_frame: head_cam3d_frame, data_type: PointCloud, topic: cam3d/depth/points1, marking: true, clearing: true, max_obstacle_height: 2.0, min_obstacle_height: 0.05}
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26 cob_collision_velocity_filter/ros/launch/collision_velocity_filter.launch
@@ -1,26 +0,0 @@
-<?xml version="1.0"?>
-<launch>
- <!-- start local costmap -->
- <node name="local_costmap_node" pkg="costmap_2d" type="costmap_2d_node" output="screen">
- <rosparam file="$(find cob_collision_velocity_filter)/ros/config/local_costmap_params.yaml" command="load" ns="costmap" />
- </node>
-
- <!-- start footprint observer node -->
- <node pkg="cob_footprint_observer" type="footprint_observer" name="footprint_observer" output="screen">
- <!-- load parameter file -->
- <rosparam file="$(find cob_collision_velocity_filter)/ros/config/footprint_observer_params.yaml" command="load" />
- </node>
-
- <!-- start collision velocity filter node -->
- <node pkg="cob_collision_velocity_filter" type="collision_velocity_filter" name="collision_velocity_filter" output="screen">
- <!-- remap incoming variables -->
- <remap from="~obstacles" to="/local_costmap_node/costmap/obstacles" />
- <remap from="~teleop_twist" to="/base_controller/safety_command" />
- <!-- remap outgoing variables -->
- <remap from="~command" to="/base_controller/command" />
- <remap from="~relevant_obstacles" to="/collision_velocity_filter/relevant_obstacles" />
- <!-- load parameter file -->
- <rosparam file="$(find cob_collision_velocity_filter)/ros/config/collision_velocity_filter_params.yaml" command="load" />
- </node>
-
-</launch>

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