From 798f02cdeb940e6828fed752c04bc5dbb535e1a1 Mon Sep 17 00:00:00 2001 From: Lars Janssen Date: Tue, 23 Apr 2019 14:34:05 +0200 Subject: [PATCH] Fix (find): add laser correction with changed parameters to detect legs better --- parameters/world_modeling/world_model.yaml | 32 +++++++++++----------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/parameters/world_modeling/world_model.yaml b/parameters/world_modeling/world_model.yaml index 505863be..f78c9fb9 100644 --- a/parameters/world_modeling/world_model.yaml +++ b/parameters/world_modeling/world_model.yaml @@ -77,22 +77,22 @@ plugins: alpha4: 0.5 # rot -> rot alpha5: 0 # trans -> strafe -#- name: laser_integration -# lib: libed_laser_plugin.so -# frequency: 40 -# parameters: -# laser_topic: /hero/base_laser/scan -# min_segment_size_pixels: 10 -# world_association_distance: 0.4 -# segment_depth_threshold: 0.2 -# min_cluster_size: 0.2 -# max_cluster_size: 1.0 -# max_gap_size: 10 -#- name: entity_clearer -# lib: libed_clearer_plugin.so -# enabled: 1 -# parameters: -# entity_timeout: 1.0 +- name: laser_integration + lib: libed_laser_plugin.so + frequency: 40 + parameters: + laser_topic: /hero/base_laser/scan + min_segment_size_pixels: 5 + world_association_distance: 0.4 + segment_depth_threshold: 0.2 + min_cluster_size: 0.2 + max_cluster_size: 1.0 + max_gap_size: 15 +- name: entity_clearer + lib: libed_clearer_plugin.so + enabled: 1 + parameters: + entity_timeout: 1.0 - name: rgbd_integration # Kinect integration lib: libed_kinect_plugin.so