From dd5be20aebc6bf50891f8c2d65422cb954329cf0 Mon Sep 17 00:00:00 2001
From: Sabeeh Khan <sabeeh-khan@ti.com>
Date: Wed, 22 Sep 2021 15:18:04 -0500
Subject: [PATCH] adjusting filters for ground

---
 .../quad_sensor/costmap_common_params.yaml    | 28 +++++++++----------
 .../radar_limit_filters_bubble.launch         | 16 +++++------
 2 files changed, 22 insertions(+), 22 deletions(-)

diff --git a/autonomous_robotics_ros/src/turtlebot_apps/turtlebot_navigation/param/quad_sensor/costmap_common_params.yaml b/autonomous_robotics_ros/src/turtlebot_apps/turtlebot_navigation/param/quad_sensor/costmap_common_params.yaml
index 2e05f4c..426c1ef 100755
--- a/autonomous_robotics_ros/src/turtlebot_apps/turtlebot_navigation/param/quad_sensor/costmap_common_params.yaml
+++ b/autonomous_robotics_ros/src/turtlebot_apps/turtlebot_navigation/param/quad_sensor/costmap_common_params.yaml
@@ -10,8 +10,8 @@ obstacle_layer:
   enabled:              true
   max_obstacle_height:  2
   origin_z:             0.0
-  z_resolution:         0.015
-  z_voxels:             16
+  z_resolution:         0.05
+  z_voxels:             20
   unknown_threshold:    15
   mark_threshold:       2
   combination_method:   1
@@ -24,30 +24,30 @@ obstacle_layer:
     data_type: PointCloud2
     topic: cloud_in
     marking: true
-    clearing: true
-    min_obstacle_height: 0.0
-    max_obstacle_height: 2
+    clearing: false
+    min_obstacle_height: -3.0
+    max_obstacle_height: 3
   scan1:
     data_type: PointCloud2
     topic: cloud_in
     marking: true
-    clearing: true
-    min_obstacle_height: 0.0
-    max_obstacle_height: 2
+    clearing: false
+    min_obstacle_height: -3.0
+    max_obstacle_height: 3
   scan2:
     data_type: PointCloud2
     topic: cloud_in
     marking: true
-    clearing: true
-    min_obstacle_height: 0.0
-    max_obstacle_height: 2
+    clearing: false
+    min_obstacle_height: -3.0
+    max_obstacle_height: 3
   scan3:
     data_type: PointCloud2
     topic: cloud_in
     marking: true
-    clearing: true
-    min_obstacle_height: 0.0
-    max_obstacle_height: 2
+    clearing: false
+    min_obstacle_height: -3.0
+    max_obstacle_height: 3
   bump:
     data_type: PointCloud2
     topic: mobile_base/sensors/bumper_pointcloud
diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/radar_limit_filters_bubble.launch b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/radar_limit_filters_bubble.launch
index f212063..fd93fd9 100755
--- a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/radar_limit_filters_bubble.launch
+++ b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/radar_limit_filters_bubble.launch
@@ -32,8 +32,8 @@
       <remap from="~output" to="xyz_filt_out_0" />
       <rosparam>
          filter_field_name: z
-         filter_limit_min: -0.4
-         filter_limit_max: 0.10
+         filter_limit_min: -0.5
+         filter_limit_max: -0.1
          filter_limit_negative: False
       </rosparam>
    </node>
@@ -76,8 +76,8 @@
       <remap from="~output" to="xyz_filt_out_1" />
       <rosparam>
          filter_field_name: z
-         filter_limit_min: -0.4
-         filter_limit_max: 0.10
+         filter_limit_min: -0.5
+         filter_limit_max: -0.1
          filter_limit_negative: False
       </rosparam>
    </node>
@@ -120,8 +120,8 @@
       <remap from="~output" to="xyz_filt_out_2" />
       <rosparam>
          filter_field_name: z
-         filter_limit_min: -0.4
-         filter_limit_max: 0.10
+         filter_limit_min: -0.5
+         filter_limit_max: -0.1
          filter_limit_negative: False
       </rosparam>
    </node>
@@ -164,8 +164,8 @@
       <remap from="~output" to="xyz_filt_out_3" />
       <rosparam>
          filter_field_name: z
-         filter_limit_min: -0.4
-         filter_limit_max: 0.10
+         filter_limit_min: -0.5
+         filter_limit_max: -0.1
          filter_limit_negative: False
       </rosparam>
    </node>