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adjusting filters for ground

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This commit is contained in:
Sabeeh Khan
2021-09-22 15:18:04 -05:00
parent f3c5afff3b
commit dd5be20aeb
2 changed files with 22 additions and 22 deletions
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28
autonomous_robotics_ros/src/turtlebot_apps/turtlebot_navigation/param/quad_sensor/costmap_common_params.yaml
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@@ -10,8 +10,8 @@ obstacle_layer:
enabled: true enabled: true
max_obstacle_height: 2 max_obstacle_height: 2
origin_z: 0.0 origin_z: 0.0
z_resolution: 0.015 z_resolution: 0.05
z_voxels: 16 z_voxels: 20
unknown_threshold: 15 unknown_threshold: 15
mark_threshold: 2 mark_threshold: 2
combination_method: 1 combination_method: 1
@@ -24,30 +24,30 @@ obstacle_layer:
data_type: PointCloud2 data_type: PointCloud2
topic: cloud_in topic: cloud_in
marking: true marking: true
clearing: true clearing: false
min_obstacle_height: 0.0 min_obstacle_height: -3.0
max_obstacle_height: 2 max_obstacle_height: 3
scan1: scan1:
data_type: PointCloud2 data_type: PointCloud2
topic: cloud_in topic: cloud_in
marking: true marking: true
clearing: true clearing: false
min_obstacle_height: 0.0 min_obstacle_height: -3.0
max_obstacle_height: 2 max_obstacle_height: 3
scan2: scan2:
data_type: PointCloud2 data_type: PointCloud2
topic: cloud_in topic: cloud_in
marking: true marking: true
clearing: true clearing: false
min_obstacle_height: 0.0 min_obstacle_height: -3.0
max_obstacle_height: 2 max_obstacle_height: 3
scan3: scan3:
data_type: PointCloud2 data_type: PointCloud2
topic: cloud_in topic: cloud_in
marking: true marking: true
clearing: true clearing: false
min_obstacle_height: 0.0 min_obstacle_height: -3.0
max_obstacle_height: 2 max_obstacle_height: 3
bump: bump:
data_type: PointCloud2 data_type: PointCloud2
topic: mobile_base/sensors/bumper_pointcloud topic: mobile_base/sensors/bumper_pointcloud

16
autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/radar_limit_filters_bubble.launch
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@@ -32,8 +32,8 @@
<remap from="~output" to="xyz_filt_out_0" /> <remap from="~output" to="xyz_filt_out_0" />
<rosparam> <rosparam>
filter_field_name: z filter_field_name: z
filter_limit_min: -0.4 filter_limit_min: -0.5
filter_limit_max: 0.10 filter_limit_max: -0.1
filter_limit_negative: False filter_limit_negative: False
</rosparam> </rosparam>
</node> </node>
@@ -76,8 +76,8 @@
<remap from="~output" to="xyz_filt_out_1" /> <remap from="~output" to="xyz_filt_out_1" />
<rosparam> <rosparam>
filter_field_name: z filter_field_name: z
filter_limit_min: -0.4 filter_limit_min: -0.5
filter_limit_max: 0.10 filter_limit_max: -0.1
filter_limit_negative: False filter_limit_negative: False
</rosparam> </rosparam>
</node> </node>
@@ -120,8 +120,8 @@
<remap from="~output" to="xyz_filt_out_2" /> <remap from="~output" to="xyz_filt_out_2" />
<rosparam> <rosparam>
filter_field_name: z filter_field_name: z
filter_limit_min: -0.4 filter_limit_min: -0.5
filter_limit_max: 0.10 filter_limit_max: -0.1
filter_limit_negative: False filter_limit_negative: False
</rosparam> </rosparam>
</node> </node>
@@ -164,8 +164,8 @@
<remap from="~output" to="xyz_filt_out_3" /> <remap from="~output" to="xyz_filt_out_3" />
<rosparam> <rosparam>
filter_field_name: z filter_field_name: z
filter_limit_min: -0.4 filter_limit_min: -0.5
filter_limit_max: 0.10 filter_limit_max: -0.1
filter_limit_negative: False filter_limit_negative: False
</rosparam> </rosparam>
</node> </node>