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planning_environment in electric for clearing known objects

planning_environment has been changed in electric as compared to diamondback. Can anyone point out what is corresponding to these lines in electric (node for clearing known objects?).

<node pkg="planning_environment" type="clear_known_objects" name="laser_clear_objects" output="screen">
    <remap from="cloud_in" to="tilt_scan_cloud" />
    <remap from="cloud_out" to="tilt_scan_cloud_known" />
    <param name="sensor_frame" type="string" value="base_scan_link" />              

    <param name="fixed_frame" type="string" value="base_link" />
    <param name="object_padd" type="double" value="0.02" />
    <param name="object_scale" type="double" value="1.0" />
</node>

planning_environment in electric for clearing known objects

planning_environment has been changed in electric as compared to diamondback. Can anyone point out what is corresponding to these lines in electric (node for clearing known objects?).objects?). As input for robot_self_filter is of type PointCloud2 and input of laser_assembler is of type PointCloud. So I need to convert from PointCloud to PointCloud2 and vice-versa in-between these 3 nodes ??

<!--clearing known objects from the laser data-->
<node pkg="planning_environment" type="clear_known_objects" name="laser_clear_objects" output="screen">
    <remap from="cloud_in" to="tilt_scan_cloud" />
    <remap from="cloud_out" to="tilt_scan_cloud_known" />
    <param name="sensor_frame" type="string" value="base_scan_link" />              

    <param name="fixed_frame" type="string" value="base_link" />
    <param name="object_padd" type="double" value="0.02" />
    <param name="object_scale" type="double" value="1.0" />
</node>

<!--self filtering laser data -->
<node pkg="robot_self_filter" type="self_filter" respawn="true" name="tilt_laser_self_filter" output="screen">
    <remap from="cloud_in" to="tilt_scan_cloud_known" />
    <remap from="cloud_out" to="tilt_scan_cloud_filtered" />
    <param name="sensor_frame" type="string" value="laser_tilt_link" />
    <param name="min_sensor_dist" type="double" value=".05"/>
    <param name="self_see_default_padding" type="double" value=".01"/>
    <param name="self_see_default_scale" type="double" value="1.0"/>
</node>

<!-- assemble pointcloud into a full world view -->
<node pkg="laser_assembler" type="point_cloud_assembler" output="screen"  name="point_cloud_assembler">
    <remap from="cloud" to="tilt_scan_cloud"/>
    <param name="tf_cache_time_secs" type="double" value="10.0" />
    <param name="tf_tolerance_secs" type="double" value="0.0" />
    <param name="max_clouds" type="int" value="400" />
    <param name="ignore_laser_skew" type="bool" value="true" />
    <param name="fixed_frame" type="string" value="base_link" />
</node>

planning_environment in electric for clearing known objects

planning_environment has been changed in electric as compared to diamondback. Can anyone please point out what is corresponding to these lines in electric (node for clearing known objects?). As input for robot_self_filter is of type PointCloud2 and input of laser_assembler is of type PointCloud. So do I need to convert from PointCloud to PointCloud2 and vice-versa in-between these 3 nodes ??nodes?

Thanks!

<!--clearing known objects from the laser data-->
<node pkg="planning_environment" type="clear_known_objects" name="laser_clear_objects" output="screen">
    <remap from="cloud_in" to="tilt_scan_cloud" />
    <remap from="cloud_out" to="tilt_scan_cloud_known" />
    <param name="sensor_frame" type="string" value="base_scan_link" />              

    <param name="fixed_frame" type="string" value="base_link" />
    <param name="object_padd" type="double" value="0.02" />
    <param name="object_scale" type="double" value="1.0" />
</node>

<!--self filtering laser data -->
<node pkg="robot_self_filter" type="self_filter" respawn="true" name="tilt_laser_self_filter" output="screen">
    <remap from="cloud_in" to="tilt_scan_cloud_known" />
    <remap from="cloud_out" to="tilt_scan_cloud_filtered" />
    <param name="sensor_frame" type="string" value="laser_tilt_link" />
    <param name="min_sensor_dist" type="double" value=".05"/>
    <param name="self_see_default_padding" type="double" value=".01"/>
    <param name="self_see_default_scale" type="double" value="1.0"/>
</node>

<!-- assemble pointcloud into a full world view -->
<node pkg="laser_assembler" type="point_cloud_assembler" output="screen"  name="point_cloud_assembler">
    <remap from="cloud" to="tilt_scan_cloud"/>
    <param name="tf_cache_time_secs" type="double" value="10.0" />
    <param name="tf_tolerance_secs" type="double" value="0.0" />
    <param name="max_clouds" type="int" value="400" />
    <param name="ignore_laser_skew" type="bool" value="true" />
    <param name="fixed_frame" type="string" value="base_link" />
</node>

planning_environment in electric for clearing known objects

planning_environment has been changed in electric as compared to diamondback. Can anyone please point out what is corresponding to these lines in electric (node for clearing known objects?). As input for robot_self_filter is of type PointCloud2 and input of laser_assembler is of type PointCloud. So do I need to convert from PointCloud to PointCloud2 and vice-versa in-between these 3 nodes?

Thanks!

<!--clearing known objects from the laser data-->
<node pkg="planning_environment" type="clear_known_objects" name="laser_clear_objects" output="screen">
    <remap from="cloud_in" to="tilt_scan_cloud" />
    <remap from="cloud_out" to="tilt_scan_cloud_known" />
    <param name="sensor_frame" type="string" value="base_scan_link" />              

    <param name="fixed_frame" type="string" value="base_link" />
    <param name="object_padd" type="double" value="0.02" />
    <param name="object_scale" type="double" value="1.0" />
</node>

<!--self filtering laser data -->
<node pkg="robot_self_filter" type="self_filter" respawn="true" name="tilt_laser_self_filter" output="screen">
    <remap from="cloud_in" to="tilt_scan_cloud_known" />
    <remap from="cloud_out" to="tilt_scan_cloud_filtered" />
    <param name="sensor_frame" type="string" value="laser_tilt_link" />
    <param name="min_sensor_dist" type="double" value=".05"/>
    <param name="self_see_default_padding" type="double" value=".01"/>
    <param name="self_see_default_scale" type="double" value="1.0"/>
</node>

<!-- assemble pointcloud into a full world view -->
<node pkg="laser_assembler" type="point_cloud_assembler" output="screen"  name="point_cloud_assembler">
    <remap from="cloud" to="tilt_scan_cloud"/>
    <param name="tf_cache_time_secs" type="double" value="10.0" />
    <param name="tf_tolerance_secs" type="double" value="0.0" />
    <param name="max_clouds" type="int" value="400" />
    <param name="ignore_laser_skew" type="bool" value="true" />
    <param name="fixed_frame" type="string" value="base_link" />
</node>