Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

introduce laser range filter #743

Merged
merged 1 commit into from
Dec 20, 2017
Merged
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 8 additions & 2 deletions cob_bringup/drivers/laser_scan_filter.launch
Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,17 @@
<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
<arg name="name"/>

<!-- scan filters-->
<!-- angular bounds filter-->
<rosparam ns="$(arg name)" command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg name).yaml"/>
<node ns="$(arg name)" pkg="cob_sick_s300" type="cob_scan_filter" name="scan_filter" respawn="false" output="screen">
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

why not using the laser_filter package here too, as suggested by @ipa-srd in #732 (comment)

Copy link
Member Author

@fmessmer fmessmer Dec 19, 2017

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

because of #732 (comment)

but we could drop-in-replace the bound_filter later...this pr is mainly for achieving the improved costmap_clearing behavior...

<remap from="scan_in" to="scan_raw"/>
<remap from="scan_out" to="scan"/>
<remap from="scan_out" to="scan_bound_filtered"/>
</node>
<!-- filter chain -->
<node ns="$(arg name)" pkg="laser_filters" type="scan_to_scan_filter_chain" name="base_laser_filter">
<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/base_laser_filter.yaml"/>
<remap from="scan" to="scan_bound_filtered"/>
<remap from="scan_filtered" to="scan"/>
</node>

</launch>
2 changes: 1 addition & 1 deletion cob_bringup/tools/docker_control.launch
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
<arg name="sim" default="false"/>

<!-- station detection -->
<node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter">
<node pkg="laser_filters" type="scan_to_scan_filter_chain" name="docking_laser_filter">
<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/docking_laser_filter.yaml"/>
<remap from="scan" to="/scan_unified"/>
<remap from="scan_filtered" to="/station_detector/scan"/>
Expand Down
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
use_message_range_limits: false
upper_threshold: 10.0
upper_replacement_value: 10.0
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
use_message_range_limits: false
upper_threshold: 10.0
upper_replacement_value: 10.0
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
use_message_range_limits: false
upper_threshold: 10.0
upper_replacement_value: 10.0
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
use_message_range_limits: false
upper_threshold: 10.0
upper_replacement_value: 10.0
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
use_message_range_limits: false
upper_threshold: 10.0
upper_replacement_value: 10.0
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
use_message_range_limits: false
upper_threshold: 10.0
upper_replacement_value: 10.0
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
use_message_range_limits: false
upper_threshold: 10.0
upper_replacement_value: 10.0
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
use_message_range_limits: false
upper_threshold: 10.0
upper_replacement_value: 10.0
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
use_message_range_limits: false
upper_threshold: 10.0
upper_replacement_value: 10.0
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
use_message_range_limits: false
upper_threshold: 10.0
upper_replacement_value: 10.0