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Fixed backward compatibilities for obstacles_detection nodelet

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matlabbe
2015-07-19 18:29:05 -04:00
parent b5bddb94e3
commit 48658d4e55
3 changed files with 127 additions and 135 deletions
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launch/tests/test_obstacles_detection.launch
+30
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<launch>
<!-- Use stereo_outdoorA.bag for testing -->
<arg name="optimize_for_close_objects" default="false" />
<include file="$(find rtabmap_ros)/launch/demo/demo_stereo_outdoor.launch"/>
<group ns="/stereo_camera" >
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap_ros/point_cloud_xyz stereo_nodelet">
<remap from="disparity/image" to="disparity"/>
<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
<remap from="cloud" to="cloudXYZ"/>
<param name="voxel_size" type="double" value="0.05"/>
<param name="decimation" type="int" value="4"/>
<param name="max_depth" type="double" value="4"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection stereo_nodelet">
<remap from="cloud" to="cloudXYZ"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="min_cluster_size" type="int" value="20"/>
<param name="max_obstacles_height" type="double" value="0.0"/>
<param name="optimize_for_close_objects" type="bool" value="$(arg optimize_for_close_objects)"/>
</node>
</group>
</launch>