From 6cf88aca82c6551e2083c81d7b41a997d501790f Mon Sep 17 00:00:00 2001 From: RobinSchmid7 Date: Mon, 12 Feb 2024 13:40:58 +0100 Subject: [PATCH] changes on jetson --- .../setups/anymal/anymal_sensor_parameter.yaml | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml index 26e3f7c3..a14b08d0 100644 --- a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml @@ -18,10 +18,15 @@ image_channel_fusions: publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance', 'rgb', 'anomaly'] + layers: ['elevation', 'traversability', 'variance', 'rgb', 'anomaly', 'friction', 'stiffness', 'risk'] basic_layers: ['elevation', 'traversability'] fps: 5.0 + elevation_map_recordable: + layers: ['elevation', 'traversability', 'variance', 'rgb', 'anomaly', 'friction', 'stiffness', 'risk'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + filtered_elevation_map: layers: ['inpaint', 'smooth', 'min_filter'] basic_layers: ['inpaint'] @@ -75,8 +80,14 @@ subscribers: topic_name: /robot_self_filter/bpearl_rear/point_cloud data_type: pointcloud + traversability: + topic_name: "/hdr_camera/semantic_image" + camera_info_topic_name: "/hdr_camera/semantic_camera_info" + channel_info_topic_name: "/hdr_camera/image_channel_info" + data_type: image + anomaly: topic_name: "/wild_visual_navigation_node/front/traversability" camera_info_topic_name: "/wild_visual_navigation_node/front/camera_info" channel_info_topic_name: "/wild_visual_navigation_node/front/channel_info" - data_type: image \ No newline at end of file + data_type: image