scan_filter_sub_ = new message_filters::Subscriber<sensor_msgs::LaserScan>(node_, "scan", 5); scan_filter_ = new tf::MessageFilter<sensor_msgs::LaserScan>(*scan_filter_sub_, tf_, odom_frame_, 5); scan_filter_->registerCallback(boost::bind(&SlamGMapping::laserCallback, this, _1))...
upper_replacement_value: .inf 这里我根据需求用了两个filter,然后/laser/scan是我原来laser发布的topic,这个滤波器会自动发布一个/scan_filtered 访问去吧!
box_filter_example.launch <launch><nodepkg="laser_filters"type="scan_to_scan_filter_chain"output="screen"name="laser_filter"><rosparamcommand="load"file="$(find pibot_bringup)/params/box_filter.yaml"/></node></launch> box_filter.yaml scan_filter_chain: - name: box_filter type: laser...
pibot_bringup/launch/box_filter_example.launch pibot_bringup/params/box_filter.yaml 根据车上宽度(200mm)和长度(300mm)分别修改box_filter.yaml中的参数 设置稍微超出一点 x方向我们设置-0.15之0.15,y方向设置-0.2至0.2 scan_filter_chain: - name: box_filter type: laser_filters/LaserScanBoxFilter params:...
amcl的默认input topic的名字是scan,也就是说默认情况下,amcl 包运行,就需要某个publisher给他以scan的topic提供数据。但在这里,通过remap,叫‘scan’的这个input名字被更改成了udacity_bot/laser/scan。 这其实就是新设定的laser scan data stream topic。如果就想用scan这个topic接收,也可以。去publisher那边,把pub...
MessageFilter<sensor_msgs::LaserScan>(*laser_scan_sub_,7*tf_,8odom_frame_id_,9100);1011laser_scan_filter_->registerCallback(boost::bind(&AmclNode::laserReceived,this, _1));1213voidAmclNode::laserReceived(constsensor_msgs::LaserScanConstPtr&laser_scan){14this->tf_->transformPose(base_...
scan (sensor_msgs/LaserScan) Laser scans. tf (tf/tfMessage) Transforms. initialpose (geometry_msgs/PoseWithCovarianceStamped) Mean and covariance with which to (re-)initialize the particle filter. map (nav_msgs/OccupancyGrid) When the use_map_topic parameter is set, AMCL subscribes to this to...
bag_record.write("message_filter/camera/compressed",ominivision_msg->header.stamp.now(),*ominivision_msg); bag_record.write("message_filter/kinect2/qhd/image_color_rect/compressed",laser_scan->header.stamp.now(),*kinect2color_msg); bag_record.write("message_filter/kinect2/qhd/image_depth_...
Scan+CleanUp:先进行资源扫描,再进行资源清理。 ScanWhenCreatingAndUpdating +CleanUpWhenDeleting:创建或更新资源清理器时进行资源扫描,删除资源清理器时进行资源清理。 ResourceFilters List 否 是 资源过滤器列表。 资源清理器使用过滤器扫描出所有需要进行清理的资源。 过滤器列表最大长度为100。 只能指定ResourceFilters...
8、 filter_size_surf(米):室内场景建议filter_size_surf=0.05~0.15,室外场景filter_size_surf=0.5。 9、 filter_size_map(米):室内场景建议filter_size_map=0.15~0.25,室外场景filter_size_map=0.5。 10、 blind (米): 激光雷达距离有效最小距离