From 74e21f0b374103c68339dd4c3296785d51924ec4 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 14 Mar 2023 18:02:13 +0900 Subject: [PATCH] feat(probablisitic_occupancy_grid_map): add scan_frame option for gridmap generation (#3032) * add scan_frame and raytrace center Signed-off-by: yoshiri * add scan frame to laserscan based method Signed-off-by: yoshiri * update readme Signed-off-by: yoshiri * fix typo Signed-off-by: yoshiri * update laucher in perception_launch Signed-off-by: yoshiri * fix config and launch file Signed-off-by: yoshiri * fixed laserscan based launcher Signed-off-by: yoshiri --------- Signed-off-by: yoshiri --- .../launch/laserscan_based_occupancy_grid_map.launch.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py index 0a6b459d9f5f3..a2197fa726959 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py +++ b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py @@ -31,6 +31,12 @@ def launch_setup(context, *args, **kwargs): param_file = LaunchConfiguration("param_file").perform(context) with open(param_file, "r") as f: laserscan_based_occupancy_grid_map_node_params = yaml.safe_load(f)["/**"]["ros__parameters"] + laserscan_based_occupancy_grid_map_node_params["input_obstacle_pointcloud"] = bool( + LaunchConfiguration("input_obstacle_pointcloud").perform(context) + ) + laserscan_based_occupancy_grid_map_node_params["input_obstacle_and_raw_pointcloud"] = bool( + LaunchConfiguration("input_obstacle_and_raw_pointcloud").perform(context) + ) composable_nodes = [ ComposableNode(