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Commit ba05c7fe authored by Ridhwan Luthra's avatar Ridhwan Luthra Committed by Robert Haschke
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Edits to match perception tutorial (#4)

Rename camera to match perception tutorial: https://github.com/ros-planning/moveit_tutorials/pull/178.
parent 8ef20042
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sensors: sensors:
- sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
image_topic: /head_mount_kinect/depth_registered/image_raw image_topic: /camera/depth_registered/image_raw
queue_size: 5 queue_size: 5
near_clipping_plane_distance: 0.3 near_clipping_plane_distance: 0.3
far_clipping_plane_distance: 5.0 far_clipping_plane_distance: 5.0
shadow_threshold: 0.2 shadow_threshold: 0.2
padding_scale: 4.0 padding_scale: 4.0
padding_offset: 0.03 padding_offset: 0.03
max_update_rate: 1.0
filtered_cloud_topic: filtered_cloud filtered_cloud_topic: filtered_cloud
sensors: sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
point_cloud_topic: /head_mount_kinect/depth_registered/points point_cloud_topic: /camera/depth_registered/points
max_range: 5.0 max_range: 5.0
point_subsample: 1 point_subsample: 1
padding_offset: 0.1 padding_offset: 0.1
padding_scale: 1.0 padding_scale: 1.0
max_update_rate: 1.0
filtered_cloud_topic: filtered_cloud filtered_cloud_topic: filtered_cloud
...@@ -2,9 +2,13 @@ ...@@ -2,9 +2,13 @@
<!-- This file makes it easy to include the settings for sensor managers --> <!-- This file makes it easy to include the settings for sensor managers -->
<!-- Param for kinect config -->
<rosparam command="load" file="$(find panda_moveit_config)/config/sensors_kinect_pointcloud.yaml" />
<!-- Params for the octomap monitor --> <!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> --> <!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
<param name="octomap_resolution" type="double" value="0.025" /> <param name="octomap_frame" type="string" value="camera_rgb_optical_frame" />
<param name="octomap_resolution" type="double" value="0.05" />
<param name="max_range" type="double" value="5.0" /> <param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter --> <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
......
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