Merge remote-tracking branch 'upstream/main'

MBTMBTMBT · Jun 17, 2024 · 2864e5d · 2864e5d
2 parents 4e33caa + 49dd56f
commit 2864e5d
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Showing 5 changed files with 271 additions and 150 deletions.
diff --git a/common/navigation/lasr_person_following/launch/joint_leg_tracker.launch b/common/navigation/lasr_person_following/launch/joint_leg_tracker.launch
@@ -1,12 +1,15 @@
 <launch>
 
   <!-- params -->
-  <param name="forest_file" value="$(find leg_tracker)/config/trained_leg_detector_res=0.33.yaml" />
-  <param name="scan_topic" value="/scan" />
-  <param name="fixed_frame" value="odom"/>
-  <param name="scan_frequency" value="15"/>  
-  <param name="max_detect_distance" value="7.5"/>
-
+    <param name="forest_file" value="$(find leg_tracker)/config/trained_leg_detector_res=0.33.yaml" />
+    <param name="scan_topic" value="/scan" />
+    <param name="fixed_frame" value="odom"/>
+    <param name="scan_frequency" value="10"/>
+    <param name="max_detect_distance" value="5.0"/>
+    <param name="dist_travelled_together_to_initiate_leg_pair" value="0.5"/>
+    <param name="display_detected_people" value="true"/>
+    <param name="max_leg_pairing_dist" value="0.5"/>
+    <param name="max_std" value="0.9"/>
   <!-- run detect_leg_clusters -->  
   <node pkg="leg_tracker" type="detect_leg_clusters" name="detect_leg_clusters" output="screen"/>
 

diff --git a/common/navigation/lasr_person_following/launch/person_following.launch b/common/navigation/lasr_person_following/launch/person_following.launch
@@ -1,14 +1,6 @@
 <launch>
 
  <include file="$(find lasr_person_following)/launch/joint_leg_tracker.launch">
-    <param name="forest_file" value="$(find leg_tracker)/config/trained_leg_detector_res=0.33.yaml" />
-    <param name="scan_topic" value="/scan" />
-    <param name="fixed_frame" value="odom"/>
-    <param name="scan_frequency" value="10"/>
-    <param name="max_detect_distance" value="5.0"/>
-    <param name="dist_travelled_together_to_initiate_leg_pair" value="1.0"/>
-    <param name="display_detected_people" value="true"/>
-    <param name="max_leg_pairing_dist" value="0.5"/>
  </include> 
 
  <node pkg="lasr_person_following" type="person_following.py" name="person_following" output="screen" />