49 lines
1.2 KiB
YAML
49 lines
1.2 KiB
YAML
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# Robot.
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elevation_mapping:
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ros__parameters:
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map_frame_id: odom
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robot_base_frame_id: base
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robot_pose_with_covariance_topic: /pose
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input_sources:
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front: # A name to identify the input source
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type: pointcloud # Supported types: pointcloud
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topic: /rgbd_d435/points
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queue_size: 1
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publish_on_update: true
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sensor_processor:
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type: perfect
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lidar:
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type: pointcloud
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topic: /scan/points
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queue_size: 1
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publish_on_update: true
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sensor_processor:
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type: laser
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ignore_points_above: 0.5
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ignore_points_below: -0.5
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track_point_frame_id: base
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track_point_x: 0.0
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track_point_y: 0.0
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track_point_z: 0.0
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time_tolerance: 1e-3
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scanning_duration: 0.1
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visibility_cleanup_rate: 5
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# Map.
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length_in_x: 5.0
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length_in_y: 5.0
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position_x: 0.0
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position_y: 0.0
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resolution: 0.03
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min_variance: 0.0001
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max_variance: 0.05
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mahalanobis_distance_threshold: 2.5
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multi_height_noise: 0.001
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surface_normal_positive_axis: z
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initialize_elevation_map: true
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length_in_x_init_submap: 3.0
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length_in_y_init_submap: 3.0
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init_submap_variance: 1e-3
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target_frame_init_submap: odom
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