Can I set more than two octomap settings for moveit?
Hi! I am using ROS melodic and moveit.
I am using octomap plugin in moveit to generate obstacle according to the tutorial. http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/perception_pipeline/perception_pipeline_tutorial.html
I would like to ask whether can I set different octomap setting for each point cloud topics,
e.g. octomap_resolution
(voxel size) for topic A, topic B and so on.
Is there any way to realize it?
Asked by s000ne on 2020-08-14 03:05:48 UTC
Answers
Hi there,
From my limited understanding the short answer regarding octomap_resolution
is no. It is specified in your sensor_manager.launch.xml
which looks something like this:
<launch>
<!-- This file makes it easy to include the settings for sensor managers -->
<!-- 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="odom" /> -->
<param name="octomap_frame" type="string" value="odom" />
<param name="octomap_resolution" type="double" value="0.1" /> <!-- in meters -->
<param name="max_range" type="double" value="2.5" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="awesome_robot" />
<include file="$(find awesome_robot_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>
It loads awesome_robot_sensor_manager.launch.xml
which loads senors.yaml
to the parameter server.
There you may define multiple sensors as mentioned in the tutorial. All those sensors however are contributing to the same octomap
. That's why I assume you can set the resolution of the octomap as one entity. Padding however is a different story, This parameter can be adjusted by sensor in your sensor.yaml
. More information can be found in the tutorials.
Asked by HappyBit on 2020-08-14 06:03:31 UTC
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