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| # robot_body_filter example configurations | ||
|
|
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| This folder contains examples of configuration of the filter. | ||
| Have a look at them to get an idea what should a config look like. | ||
| Have a look at them to get an idea what should a config look like. | ||
|
|
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| Running `full_example.launch`, you get a quick standalone test of the filter | ||
| that runs everything needed to get a filtered laser scan. |
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| <?xml version="1.0" encoding="utf-8"?> | ||
| <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"> | ||
| <asset> | ||
| <contributor> | ||
| <author>Blender User</author> | ||
| <authoring_tool>Blender 2.83.2</authoring_tool> | ||
| </contributor> | ||
| <created>2020-03-09T10:49:51</created> | ||
| <modified>2020-03-09T10:49:51</modified> | ||
| <unit name="meter" meter="1"/> | ||
| <up_axis>Z_UP</up_axis> | ||
| </asset> | ||
| <library_effects> | ||
| <effect id="Material-effect"> | ||
| <profile_COMMON> | ||
| <technique sid="common"> | ||
| <lambert> | ||
| <emission> | ||
| <color sid="emission">0 0 0 1</color> | ||
| </emission> | ||
| <diffuse> | ||
| <color sid="diffuse">0.8 0.8 0.8 1</color> | ||
| </diffuse> | ||
| <index_of_refraction> | ||
| <float sid="ior">1.45</float> | ||
| </index_of_refraction> | ||
| </lambert> | ||
| </technique> | ||
| </profile_COMMON> | ||
| </effect> | ||
| </library_effects> | ||
| <library_images/> | ||
| <library_materials> | ||
| <material id="Material-material" name="Material"> | ||
| <instance_effect url="#Material-effect"/> | ||
| </material> | ||
| </library_materials> | ||
| <library_geometries> | ||
| <geometry id="Cube-mesh" name="Cube"> | ||
| <mesh> | ||
| <source id="Cube-mesh-positions"> | ||
| <float_array id="Cube-mesh-positions-array" count="24">1 1 1 1 1 -1 1 -1 1 1 -1 -1 -1 1 1 -1 1 -1 -1 -1 1 -1 -1 -1</float_array> | ||
| <technique_common> | ||
| <accessor source="#Cube-mesh-positions-array" count="8" stride="3"> | ||
| <param name="X" type="float"/> | ||
| <param name="Y" type="float"/> | ||
| <param name="Z" type="float"/> | ||
| </accessor> | ||
| </technique_common> | ||
| </source> | ||
| <source id="Cube-mesh-normals"> | ||
| <float_array id="Cube-mesh-normals-array" count="18">0 0 1 0 -1 0 -1 0 0 0 0 -1 1 0 0 0 1 0</float_array> | ||
| <technique_common> | ||
| <accessor source="#Cube-mesh-normals-array" count="6" stride="3"> | ||
| <param name="X" type="float"/> | ||
| <param name="Y" type="float"/> | ||
| <param name="Z" type="float"/> | ||
| </accessor> | ||
| </technique_common> | ||
| </source> | ||
| <source id="Cube-mesh-map-0"> | ||
| <float_array id="Cube-mesh-map-0-array" count="72">0.875 0.5 0.625 0.75 0.625 0.5 0.625 0.75 0.375 1 0.375 0.75 0.625 0 0.375 0.25 0.375 0 0.375 0.5 0.125 0.75 0.125 0.5 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.25 0.375 0.5 0.375 0.25 0.875 0.5 0.875 0.75 0.625 0.75 0.625 0.75 0.625 1 0.375 1 0.625 0 0.625 0.25 0.375 0.25 0.375 0.5 0.375 0.75 0.125 0.75 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.25 0.625 0.5 0.375 0.5</float_array> | ||
| <technique_common> | ||
| <accessor source="#Cube-mesh-map-0-array" count="36" stride="2"> | ||
| <param name="S" type="float"/> | ||
| <param name="T" type="float"/> | ||
| </accessor> | ||
| </technique_common> | ||
| </source> | ||
| <vertices id="Cube-mesh-vertices"> | ||
| <input semantic="POSITION" source="#Cube-mesh-positions"/> | ||
| </vertices> | ||
| <triangles material="Material-material" count="12"> | ||
| <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/> | ||
| <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/> | ||
| <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/> | ||
| <p>4 0 0 2 0 1 0 0 2 2 1 3 7 1 4 3 1 5 6 2 6 5 2 7 7 2 8 1 3 9 7 3 10 5 3 11 0 4 12 3 4 13 1 4 14 4 5 15 1 5 16 5 5 17 4 0 18 6 0 19 2 0 20 2 1 21 6 1 22 7 1 23 6 2 24 4 2 25 5 2 26 1 3 27 3 3 28 7 3 29 0 4 30 2 4 31 3 4 32 4 5 33 0 5 34 1 5 35</p> | ||
| </triangles> | ||
| </mesh> | ||
| </geometry> | ||
| </library_geometries> | ||
| <library_visual_scenes> | ||
| <visual_scene id="Scene" name="Scene"> | ||
| <node id="Cube" name="Cube" type="NODE"> | ||
| <matrix sid="transform">0.5 0 0 0 0 1 0 0 0 0 1.5 0 0 0 0 1</matrix> | ||
| <instance_geometry url="#Cube-mesh" name="Cube"> | ||
| <bind_material> | ||
| <technique_common> | ||
| <instance_material symbol="Material-material" target="#Material-material"> | ||
| <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/> | ||
| </instance_material> | ||
| </technique_common> | ||
| </bind_material> | ||
| </instance_geometry> | ||
| </node> | ||
| </visual_scene> | ||
| </library_visual_scenes> | ||
| <scene> | ||
| <instance_visual_scene url="#Scene"/> | ||
| </scene> | ||
| </COLLADA> |
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| <?xml version="1.0"?> | ||
| <!-- This is a full example that runs the LaserScan filter, spawns a robot from URDF, creates TF for it and publishes a pointcloud. --> | ||
| <launch> | ||
| <!-- Prerequisite: sensor_filters, rviz, robot_state_publisher, tf2_ros --> | ||
| <param name="use_sim_time" value="false" /> | ||
| <param name="robot_description" textfile="$(dirname)/full_example.urdf" /> | ||
| <node name="laser_j_pub" pkg="rostopic" type="rostopic" args="pub -s --use-rostime -r10 joint_states sensor_msgs/JointState "{header: {seq: 0, stamp: now, frame_id: 'base_link'}, name: ['laser_j'], position: [0], velocity: [0], effort: [0]}"" /> | ||
| <node name="state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> | ||
| <node name="odom" pkg="tf2_ros" type="static_transform_publisher" args="0 0 0 0 0 0 odom base_link" /> | ||
| <!-- http://wiki.ros.org/sensor_filters --> | ||
| <node name="laser_filter" pkg="sensor_filters" type="laserscan_filter_chain" output="screen"> | ||
| <rosparam command="load" file="$(dirname)/full_example.yaml" /> | ||
| <remap from="~input" to="scan" /> | ||
| <remap from="~output" to="scan_filtered" /> | ||
| </node> | ||
| <node name="scan" pkg="rostopic" type="rostopic" args="pub -r10 --use-rostime -s /scan sensor_msgs/LaserScan "{header: {seq: 0, stamp: now, frame_id: 'laser'}, angle_min: -0.5, angle_max: 0.5, angle_increment: 0.25, time_increment: 0.1, scan_time: 0.5, range_min: 0.0, range_max: 50.0, ranges: [1, 2, 3, 4, 5], intensities: [1, 1, 1, 1, 1]}"" /> | ||
| <node name="$(anon rviz)" pkg="rviz" type="rviz" args="-d $(dirname)/../rviz/debug.rviz -f base_link"> | ||
| <remap from="nifti_robot_description" to="robot_description" /> | ||
| </node> | ||
| </launch> |
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| <?xml version="1.0" ?> | ||
| <robot name="NIFTi"> | ||
| <link name="base_link"> | ||
| <visual> | ||
| <origin rpy="0 0 0" xyz="-0.1220 0 0"/> | ||
| <geometry><box size="1.8 1.8 1.8"/></geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin rpy="0 0 0" xyz="-0.1220 0 0"/> | ||
| <geometry><box size="1.8 1.8 1.8"/></geometry> | ||
| </collision> | ||
| <collision name="big_collision_box"> | ||
| <origin rpy="0 0 0" xyz="-0.1 0 0"/> | ||
| <!--geometry><box size="2.2545 2.2545 2.2545"/></geometry--> | ||
| <geometry><mesh filename="package://robot_body_filter/examples/box.dae" scale="2.2545 1.12545 0.7515"/></geometry> | ||
| </collision> | ||
| <inertial> | ||
| <origin rpy="0 0 0" xyz="-0.034 0 0.142"/> | ||
| <mass value="6.0"/> | ||
| <inertia ixx="0.001" ixy="0.0001" ixz="0.0" iyy="0.02" iyz="-0.0001" izz="0.03"/> | ||
| </inertial> | ||
| </link> | ||
| <link name="antenna"> | ||
| <visual> | ||
| <origin rpy="0 0 0" xyz="-0.01864 0 0"/> | ||
| <geometry><sphere radius="1.24091" /></geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin rpy="0 0 0" xyz="-0.01864 0 0"/> | ||
| <geometry><sphere radius="1.24091"/></geometry> | ||
| </collision> | ||
| <inertial> | ||
| <origin rpy="0 0 0" xyz="0 0 0"/> | ||
| <mass value="0.5"/> | ||
| <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.001" iyz="-0.0001" izz="0.004"/> | ||
| </inertial> | ||
| </link> | ||
| <joint name="antenna_j" type="fixed"> | ||
| <parent link="base_link"/> | ||
| <child link="antenna"/> | ||
| <origin rpy="0 0 0" xyz="0.01864 0 0"/> | ||
| </joint> | ||
| <link name="laser_base"> | ||
| <visual> | ||
| <origin rpy="0 0 0" xyz="0 0 0"/> | ||
| <geometry><box size="0.0005 0.0005 0.0005"/></geometry> | ||
| </visual> | ||
| <inertial> | ||
| <origin rpy="0 0 0" xyz="0 0 0"/> | ||
| <mass value="1e-5"/> | ||
| <inertia ixx="1e-3" ixy="1e-6" ixz="1e-6" iyy="1e-3" iyz="1e-6" izz="1e-3"/> | ||
| </inertial> | ||
| </link> | ||
| <joint name="laser_base_j" type="fixed"> | ||
| <parent link="base_link"/> | ||
| <child link="laser_base"/> | ||
| <origin rpy="0 0 0" xyz="-1.5 0 0"/> | ||
| </joint> | ||
| <link name="laser"> | ||
| <visual> | ||
| <origin rpy="0 0 0" xyz="0 0 0"/> | ||
| <geometry><box size="0.07273 0.07273 0.07273"/></geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin rpy="0 0 0" xyz="0 0 0"/> | ||
| <geometry><box size="0.07273 0.07273 0.07273"/></geometry> | ||
| </collision> | ||
| <inertial> | ||
| <origin rpy="0 0 0" xyz="0 0 0"/> | ||
| <mass value="1"/> | ||
| <inertia ixx="0.003" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.002"/> | ||
| </inertial> | ||
| </link> | ||
| <joint name="laser_j" type="revolute"> | ||
| <parent link="laser_base"/> | ||
| <child link="laser"/> | ||
| <axis xyz="1 0 0"/> | ||
| <origin rpy="0 0 0" xyz="0 0 0"/> | ||
| <limit effort="0" lower="-2.3561945" upper="2.3561945" velocity="4"/> | ||
| </joint> | ||
| </robot> |
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| # This is an example filter config for tracked vehicle Absolem from Czech Technical University's | ||
| # VRAS team. The robot is equipped with a 2D lidar attached to a rotating pivot point. | ||
| scan_filter_chain: | ||
| - name: RobotBodyFilter | ||
| type: robot_body_filter/RobotBodyFilterLaserScan | ||
| params: | ||
| frames/fixed: 'odom' | ||
| frames/sensor: 'laser' | ||
| filter/model_pose_update_interval: 0.002 # do not get lower, the processing is then too slow | ||
| sensor/point_by_point: True | ||
| sensor/min_distance: 0.03 | ||
| sensor/max_distance: 50.0 | ||
| ignored_links/bounding_sphere: ["antenna", "base_link::big_collision_box"] | ||
| ignored_links/shadow_test: ["laser", "base_link::big_collision_box"] | ||
| body_model/inflation/scale: 1.07 | ||
| body_model/inflation/padding: 0.01 | ||
| body_model/robot_description_param: 'robot_description' | ||
| transforms/buffer_length: 60.0 | ||
| transforms/timeout/reachable: 0.2 | ||
| transforms/timeout/unreachable: 0.2 | ||
| bounding_sphere/compute: True | ||
| bounding_sphere/debug: True | ||
| bounding_sphere/marker: True | ||
| bounding_sphere/publish_cut_out_pointcloud: True | ||
| bounding_box/compute: True | ||
| bounding_box/debug: True | ||
| bounding_box/marker: True | ||
| bounding_box/publish_cut_out_pointcloud: True | ||
| oriented_bounding_box/compute: True | ||
| oriented_bounding_box/debug: True | ||
| oriented_bounding_box/marker: True | ||
| oriented_bounding_box/publish_cut_out_pointcloud: True | ||
| local_bounding_box/frame_id: "base_link" | ||
| local_bounding_box/compute: True | ||
| local_bounding_box/debug: True | ||
| local_bounding_box/marker: True | ||
| local_bounding_box/publish_cut_out_pointcloud: True | ||
| debug/pcl/inside: True | ||
| debug/pcl/clip: True | ||
| debug/pcl/shadow: True | ||
| debug/marker/contains: True | ||
| debug/marker/shadow: True |
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