New nodelet for cube recognition

utcoupe · May 2, 2018 · 9d8dd85 · 9d8dd85
1 parent 1d52038
commit 9d8dd85
Showing 1 changed file with 26 additions and 0 deletions.
diff --git a/launch/lidar_objects.launch b/launch/lidar_objects.launch
@@ -49,6 +49,32 @@
         <param name="frame_id"             value="map"/>
     </node>
 
+    <node name="obstacle_extractor_cube" pkg="nodelet" type="nodelet" args="load processing_lidar_objects/ObstacleExtractor nodelet_manager">
+        <remap from="raw_obstacles" to="raw_cube"/>
+        <remap from="obstacles" to="obstacles1"/>
+        <param name="active"               value="true"/>
+        <param name="use_scan"             value="true"/>
+        <param name="use_pcl"              value="false"/>
+
+        <param name="use_split_and_merge"    value="false"/>
+        <param name="circles_from_visibles"  value="true"/>
+        <param name="discard_converted_segments" value="false"/>
+        <param name="transform_coordinates"  value="true"/>
+
+        <param name="min_group_points"     value="5"/>
+
+        <param name="max_group_distance"   value="0.015"/>
+        <param name="distance_proportion"  value="0.00628"/>
+        <param name="max_split_distance"   value="0.015"/>
+        <param name="max_merge_separation" value="0.01"/>
+        <param name="max_merge_spread"     value="0.01"/>
+
+        <param name="max_circle_radius"    value="0.0"/>  <!-- Max circles size for recognition -->
+        <param name="radius_enlargement"   value="0.00"/> <!-- Optional margin -->
+
+        <param name="frame_id"             value="laser"/>
+    </node>
+
     <node name="obstacle_tracker" pkg="nodelet" type="nodelet" args="load processing_lidar_objects/ObstacleTracker nodelet_manager">
         <param name="active"                  value="true"/>