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Merge pull request #138 from CPFL/mod_vscan
Mod vscan
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<launch> | ||
<node pkg="points2image" type="points2vscan" name="points2vscan" output="screen" /> | ||
<!-- parameters for points2vscan --> | ||
<arg name="beam_num" default="1440"/> | ||
<arg name="step" default="0.1"/> | ||
<arg name="min_floor" default="-3.0"/> | ||
<arg name="max_floor" default="-1.3"/> | ||
<arg name="max_ceiling" default="6.0" /> | ||
<arg name="min_ceiling" default="-0.5" /> | ||
<arg name="road_slop_min_height" default="80.0" /> | ||
<arg name="road_slop_max_height" default="30.0" /> | ||
<arg name="rotation" default="3" /> | ||
<arg name="obstacle_min_height" default="1" /> | ||
<arg name="max_back_distance" default="1" /> | ||
<arg name="pass_height" default="2" /> | ||
<arg name="max_range" default="80.0" /> | ||
<arg name="min_range" default="3" /> | ||
<arg name="grid_size" default="10.0" /> | ||
<arg name="image_size" default="1000.0" /> | ||
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<node pkg="points2image" type="points2vscan" name="points2vscan" output="screen" > | ||
<param name="BEAMNUM" type="int" value="$(arg beam_num)" /> | ||
<param name="STEP" type="double" value="$(arg step)" /> | ||
<param name="MINFLOOR" type="double" value="$(arg min_floor)" /> | ||
<param name="MAXFLOOR" type="double" value="$(arg max_floor)" /> | ||
<param name="MAXCEILING" type="double" value="$(arg max_ceiling)" /> | ||
<param name="MINCEILING" type="double" value="$(arg min_ceiling)" /> | ||
<param name="ROADSLOPMINHEIGHT" type="double" value="$(arg road_slop_min_height)" /> | ||
<param name="ROADSLOPMAXHEIGHT" type="double" value="$(arg road_slop_max_height)" /> | ||
<param name="ROTATION" type="double" value="$(arg rotation)" /> | ||
<param name="OBSTACLEMINHEIGHT" type="double" value="$(arg obstacle_min_height)" /> | ||
<param name="MAXBACKDISTANCE" type="double" value="$(arg max_back_distance)" /> | ||
<param name="PASSHEIGHT" type="double" value="$(arg pass_height)" /> | ||
<param name="MAXRANGE" type="double" value="$(arg max_range)" /> | ||
<param name="MINRANGE" type="double" value="$(arg min_range)" /> | ||
<param name="GRIDSIZE" type="double" value="$(arg grid_size)" /> | ||
<param name="IMAGESIZE" type="double" value="$(arg image_size)" /> | ||
</node> | ||
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<node pkg="points2image" type="vscan2image" name="vscan2image" output="screen" /> | ||
<node pkg="points2image" type="vscan2linelist" name="vscan2linelist" output="screen" /> | ||
</launch> |