Modified laser_filtered

IntelligentRoboticsLabs · Mar 5, 2024 · a0fae3d · a0fae3d
1 parent 0a8c99f
commit a0fae3d
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Showing 2 changed files with 12 additions and 17 deletions.
diff --git a/config/footprint_filter.yaml b/config/footprint_filter.yaml
@@ -1,7 +1,11 @@
 scan_to_scan_filter_chain:
   ros__parameters:
     filter1:
-      name: footprint_filter
-      type: laser_filters/LaserScanFootprintFilter
+      name: box_filter
+      type: laser_filters/LaserScanRangeFilter
       params:
-        inscribed_radius: 0.325
+        use_message_range_limits: false   # if not specified defaults to false
+        lower_threshold: 0.325              # if not specified defaults to 0.0
+        upper_threshold: 20.0              # if not specified defaults to 100000.0
+        lower_replacement_value: .inf    # if not specified defaults to NaN
+        upper_replacement_value: .inf     # if not specified defaults to NaN
diff --git a/launch/kobuki.launch.py b/launch/kobuki.launch.py
@@ -51,6 +51,7 @@ def generate_launch_description():
     package_dir = get_package_share_directory('kobuki')
 
     params_file = os.path.join(package_dir, 'config', 'kobuki_node_params.yaml')
+    params_file_filter = os.path.join(package_dir, 'config', 'footprint_filter.yaml')
     with open(params_file, 'r') as f:
         kobuki_params = yaml.safe_load(f)['kobuki_ros_node']['ros__parameters']
 
@@ -145,33 +146,23 @@ def generate_launch_description():
     laser_filter_cmd = Node(
         package='laser_filters',
         executable='scan_to_scan_filter_chain',
-        parameters=[
-            PathJoinSubstitution([
-                package_dir,
-                'params', 'footprint_filter.yaml',
-            ])
-        ],
+        parameters=[params_file_filter],
         condition=IfCondition(PythonExpression([lidar]))
     )
 
     laser_filter_s2_cmd = Node(
         package='laser_filters',
         executable='scan_to_scan_filter_chain',
-        parameters=[
-            PathJoinSubstitution([
-                package_dir,
-                'params', 'footprint_filter.yaml',
-            ])
-        ],
+        parameters=[params_file_filter],
         condition=IfCondition(PythonExpression([lidar_s2]))
     )
 
     ld.add_action(declare_lidar_cmd)
     ld.add_action(rplidar_cmd)
     ld.add_action(declare_lidar_s2_cmd)
-    ld.add_action(rplidar__s2_cmd)
+    # ld.add_action(rplidar__s2_cmd)
     ld.add_action(laser_filter_cmd)
-    ld.add_action(laser_filter_s2_cmd)
+    # ld.add_action(laser_filter_s2_cmd)
 
     tf_footprint2base_cmd = Node(
         package='tf2_ros',