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szenergy_grid_map.launch
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<launch>
<param name="use_sim_time" value="true"/>
<node pkg="rosbag" type="play" name="rosbag_player" output="screen" args="--clock /home/miklos/shell_parking/test_no_tf.bag -l">
</node>
<include file="$(find nissan_bringup)/launch/nissan.leaf.staticbringup.ref.launch"/>
<!--
<node args="1.8 0.605 1.13 0.0 0.0 0.0 /base_link /velodyne_left 100" name="velodyne_left_tf_publisher" pkg="tf" type="static_transform_publisher"/>
<node args="1.4 0.0 0.4 0.0 0.0 0.0 /base_link /stereo_camera 100" name="stereo_camera_tf_publisher" pkg="tf" type="static_transform_publisher"/>
<node args="0.0 0.0 0.2 0.0 0.0 0.0 /base_link /duro_imu 100" name="duro_imu_tf_publisher" pkg="tf" type="static_transform_publisher"/>
<node args="0.0 0.0 0.2 0.0 0.0 0.0 /base_link /duro 100" name="duro_tf_publisher" pkg="tf" type="static_transform_publisher"/>
<node args="3.713 -0.351 -0.111 0.0 0.0 0.0 /base_link /laser 100" name="laser_tf_publisher" pkg="tf" type="static_transform_publisher"/>
<node args="1.8 -0.605 1.13 0.0 0.0 0.0 /base_link /velodyne_right 100" name="velodyne_right_tf_publisher" pkg="tf" type="static_transform_publisher"/>-->
<node pkg="tf" name="static_transform_gps_base_link" type="static_transform_publisher" args="0 0 0 0 0 0 base_link gps 100"/>
<node pkg="points_preprocessor" type="ray_ground_filter" name="ray_ground_filter" output="log" ns="ns1">
<param name="input_point_topic" value="/velodyne_left/velodyne_points" />
<param name="base_frame" value="base_link" />
<param name="sensor_height" value="1.6" />
<param name="clipping_height" value="2.0" />
<param name="min_point_distance" value="0.0" />
<param name="radial_divider_angle" value="0.15" />
<param name="concentric_divider_distance" value="0.0" />
<param name="local_max_slope" value="10" />
<param name="general_max_slope" value="10" />
<param name="min_height_threshold" value="0.05" />
<param name="reclass_distance_threshold" value="0.2" />
<param name="no_ground_point_topic" value="no_points_left_velodyne" />
<param name="ground_point_topic" value="ground_points_left_velodyne" />
</node>
<node pkg="points_preprocessor" type="ray_ground_filter" name="ray_ground_filter" output="log" ns="ns2">
<param name="input_point_topic" value="/velodyne_right/velodyne_points" />
<param name="base_frame" value="base_link" />
<param name="sensor_height" value="1.6" />
<param name="clipping_height" value="2.0" />
<param name="min_point_distance" value="0.0" />
<param name="radial_divider_angle" value="0.15" />
<param name="concentric_divider_distance" value="0.0" />
<param name="local_max_slope" value="10" />
<param name="general_max_slope" value="10" />
<param name="min_height_threshold" value="0.05" />
<param name="reclass_distance_threshold" value="0.2" />
<param name="no_ground_point_topic" value="no_points_right_velodyne" />
<param name="ground_point_topic" value="ground_points_right_velodyne" />
</node>
<node pkg="points_preprocessor" type="points_concat_filter" name="points_concat_filter" output="screen">
<param name="output_frame_id" value="base_link" />
<param name="input_topics" value="[/ns1/ray_ground_filter/no_points_left_velodyne,/ns2/ray_ground_filter/no_points_right_velodyne,/cloud]" />
<remap from="/points_concat" to="/velodyne_sick_points_concat" />
</node>
</launch>