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updated test_ouster_gen2.launch

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matlabbe
2020-06-22 13:04:30 -04:00
parent a91e3687ba
commit aa0a473a14
1 changed files with 12 additions and 7 deletions
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launch/tests/test_ouster_gen2.launch
+12 -7
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@@ -19,11 +19,11 @@
<arg name="frame_id" default="os_sensor"/> <arg name="frame_id" default="os_sensor"/>
<arg name="rtabmapviz" default="true"/> <arg name="rtabmapviz" default="true"/>
<arg name="scan_20_hz" default="true"/> <arg name="scan_20_hz" default="true"/>
<arg name="voxel_size" default="0.15"/> <!-- indoor: 0.1 to 0.3, outdoor: 0.3 to 0.5 -->
<arg name="use_sim_time" default="false"/> <arg name="use_sim_time" default="false"/>
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/> <param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
<!-- Ouster --> <!-- Ouster -->
<remap unless="$(arg use_sim_time)" from="/os_cloud_node/imu" to="/os_cloud_node/imu/data_raw"/>
<include unless="$(arg use_sim_time)" file="$(find ouster_ros)/ouster.launch"> <include unless="$(arg use_sim_time)" file="$(find ouster_ros)/ouster.launch">
<arg name="sensor_hostname" value="$(arg sensor_hostname)"/> <arg name="sensor_hostname" value="$(arg sensor_hostname)"/>
<arg name="udp_dest" value="$(arg udp_dest)"/> <arg name="udp_dest" value="$(arg udp_dest)"/>
@@ -34,7 +34,8 @@
<!-- IMU orientation estimation and publish tf accordingly to os_sensor frame --> <!-- IMU orientation estimation and publish tf accordingly to os_sensor frame -->
<node pkg="nodelet" type="nodelet" name="imu_nodelet_manager" args="manager"> <node pkg="nodelet" type="nodelet" name="imu_nodelet_manager" args="manager">
<remap from="imu" to="/os_cloud_node/imu"/> <remap from="imu/data_raw" to="/os_cloud_node/imu"/>
<remap from="imu/data" to="/os_cloud_node/imu/data"/>
</node> </node>
<node pkg="nodelet" type="nodelet" name="imu_filter" args="load imu_filter_madgwick/ImuFilterNodelet imu_nodelet_manager"> <node pkg="nodelet" type="nodelet" name="imu_filter" args="load imu_filter_madgwick/ImuFilterNodelet imu_nodelet_manager">
<param name="use_mag" value="false"/> <param name="use_mag" value="false"/>
@@ -62,7 +63,7 @@
<!-- ICP parameters --> <!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="true"/> <param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/Iterations" type="string" value="10"/> <param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/VoxelSize" type="string" value="0.2"/> <param name="Icp/VoxelSize" type="string" value="$(arg voxel_size)"/>
<param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar --> <param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
<param name="Icp/Epsilon" type="string" value="0.001"/> <param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/> <param name="Icp/PointToPlaneK" type="string" value="20"/>
@@ -76,7 +77,7 @@
<!-- Odom parameters --> <!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.95"/> <param name="Odom/ScanKeyFrameThr" type="string" value="0.95"/>
<param name="Odom/Strategy" type="string" value="0"/> <param name="Odom/Strategy" type="string" value="0"/>
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.2"/> <param name="OdomF2M/ScanSubtractRadius" type="string" value="$(arg voxel_size)"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/> <param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
</node> </node>
@@ -88,6 +89,7 @@
<param name="approx_sync" type="bool" value="false"/> <param name="approx_sync" type="bool" value="false"/>
<remap from="scan_cloud" to="/os_cloud_node/points"/> <remap from="scan_cloud" to="/os_cloud_node/points"/>
<remap from="imu" to="/os_cloud_node/imu/data"/>
<!-- RTAB-Map's parameters --> <!-- RTAB-Map's parameters -->
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <param name="Rtabmap/DetectionRate" type="string" value="1"/>
@@ -95,6 +97,7 @@
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="RGBD/ProximityMaxGraphDepth" type="string" value="0"/> <param name="RGBD/ProximityMaxGraphDepth" type="string" value="0"/>
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/> <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/>
<param name="RGBD/LocalRadius" type="string" value="2"/>
<param name="RGBD/AngularUpdate" type="string" value="0.05"/> <param name="RGBD/AngularUpdate" type="string" value="0.05"/>
<param name="RGBD/LinearUpdate" type="string" value="0.05"/> <param name="RGBD/LinearUpdate" type="string" value="0.05"/>
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/> <param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
@@ -104,23 +107,25 @@
<!-- param name="Mem/LaserScanRadius" type="string" value="0"/ --> <!-- param name="Mem/LaserScanRadius" type="string" value="0"/ -->
<param name="Reg/Strategy" type="string" value="1"/> <param name="Reg/Strategy" type="string" value="1"/>
<param name="Optimizer/GravitySigma" type="string" value="0.5"/>
<param name="Optimizer/Strategy" type="string" value="1"/>
<param name="Grid/CellSize" type="string" value="0.1"/> <param name="Grid/CellSize" type="string" value="0.1"/>
<param name="Grid/RangeMax" type="string" value="20"/> <param name="Grid/RangeMax" type="string" value="20"/>
<param name="Grid/ClusterRadius" type="string" value="1"/> <param name="Grid/ClusterRadius" type="string" value="1"/>
<param name="Grid/GroundIsObstacle" type="string" value="true"/> <param name="Grid/GroundIsObstacle" type="string" value="true"/>
<!-- ICP parameters --> <!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="0.3"/> <param name="Icp/VoxelSize" type="string" value="$(arg voxel_size)"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/> <param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/> <param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/PointToPlane" type="string" value="false"/> <param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/Iterations" type="string" value="10"/> <param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/Epsilon" type="string" value="0.001"/> <param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/MaxTranslation" type="string" value="3"/> <param name="Icp/MaxTranslation" type="string" value="3"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/> <param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/PM" type="string" value="true"/> <param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/> <param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.4"/> <param name="Icp/CorrespondenceRatio" type="string" value="0.2"/>
</node> </node>
<node if="$(arg rtabmapviz)" name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen"> <node if="$(arg rtabmapviz)" name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen">