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leggedrobotics · Mar 14, 2024 · 667aadd · 667aadd
1 parent 23a1f8e
commit 667aadd
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml
@@ -1,5 +1,5 @@
 #### Basic parameters ########
-resolution: 0.04 # resolution in m.
+resolution: 0.05 # resolution in m.
 map_length: 8 # map's size in m.
 sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor).
 mahalanobis_thresh: 2.0 # points outside this distance is outlier.

diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml
@@ -53,15 +53,15 @@ subscribers:
  topic_name: /depth_camera_right/point_cloud_self_filtered
  data_type: pointcloud
 
- front_wide_angle:
- topic_name: /wide_angle_camera_front/image_color_rect/compressed
- camera_info_topic_name: /wide_angle_camera_front/camera_info
- data_type: image
-
- rear_wide_angle:
- topic_name: /wide_angle_camera_rear/image_color_rect/compressed
- camera_info_topic_name: /wide_angle_camera_rear/camera_info
- data_type: image
+ # front_wide_angle:
+ #  topic_name: /wide_angle_camera_front/image_color_rect/compressed
+ #  camera_info_topic_name: /wide_angle_camera_front/camera_info
+ #  data_type: image
+
+ # rear_wide_angle:
+ #  topic_name: /wide_angle_camera_rear/image_color_rect/compressed
+ #  camera_info_topic_name: /wide_angle_camera_rear/camera_info
+ #  data_type: image
 
  velodyne:
  topic_name: /point_cloud_filter/lidar/point_cloud_filtered