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Refactored obstacles_detection nodelet to use OccupancyGrid segmentation approach (so using exactly the same parameter names as rtabmap node for the map)

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matlabbe
2016-08-31 12:45:55 -04:00
parent da2b87bb28
commit 750fd61daa
7 changed files with 562 additions and 452 deletions
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launch/tests/test_obstacles_detection.launch
-3
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@@ -1,8 +1,6 @@
<launch>
<!-- Use stereo_outdoorA.bag for testing -->
<arg name="optimize_for_close_objects" default="false" />
<include file="$(find rtabmap_ros)/launch/demo/demo_stereo_outdoor.launch"/>
<group ns="/stereo_camera" >
@@ -23,7 +21,6 @@
<param name="wait_for_transform" type="bool" value="true"/>
<param name="min_cluster_size" type="int" value="20"/>
<param name="max_obstacles_height" type="double" value="0.0"/>
<param name="optimize_for_close_objects" type="bool" value="$(arg optimize_for_close_objects)"/>
</node>
</group>