Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[WIP] Add kinect at external location, self-extraction using checkerboard #171

Open
wants to merge 2 commits into
base: hydro-devel
Choose a base branch
from
Open

[WIP] Add kinect at external location, self-extraction using checkerboard #171

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
358ac11
enable octomap
RyuYamamoto May 19, 2015
7f181c3
Add kinect-checkerboard capability
May 15, 2015
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 8 additions & 0 deletions nextage_moveit_config/config/kinect_sensor.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
point_cloud_topic: /camera/depth_registered/points
max_range: 5.0
point_subsample: 1
padding_offset: 0.1
padding_scale: 1.0
filtered_cloud_topic: filtered_cloud
5 changes: 5 additions & 0 deletions nextage_moveit_config/launch/NextageOpen_moveit_sensor_manager.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,3 +1,8 @@
<launch>

<rosparam command="load" file="$(find nextage_moveit_config)/config/kinect_sensor.yaml" />
<param name="octomap_frame" type="string" value="WAIST" />
<param name="octomap_resolution" type="double" value="0.04" />
<param name="max_range" type="double" value="5.0" />

</launch>
3 changes: 3 additions & 0 deletions nextage_moveit_config/launch/move_group.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@
<arg name="jiggle_fraction" default="0.05" />
<arg name="publish_monitored_planning_scene" default="true"/>

<arg name="kinect" default="true" />

<include ns="move_group" file="$(find nextage_moveit_config)/launch/planning_pipeline.launch">
<arg name="pipeline" value="ompl" />
</include>
Expand All @@ -26,6 +28,7 @@

<include ns="move_group" file="$(find nextage_moveit_config)/launch/sensor_manager.launch" if="$(arg allow_trajectory_execution)">
<arg name="moveit_sensor_manager" value="NextageOpen" />
<arg name="kinect" value="$(arg kinect)" />
</include>

<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
Expand Down
Loading