Merge pull request jsk-ros-pkg#101 from garaemon/use-laser-and-kinect…

…-for-moveit Use laser and kinect to build obstacle occupancy grid of moveit
aginika · Oct 12, 2014 · c1fdb1a · c1fdb1a
2 parents ff5c289 + a9d53c2
commit c1fdb1a
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Showing 3 changed files with 16 additions and 8 deletions.
diff --git a/jsk_pr2_startup/jsk_pr2_moveit/sensors_kinect.yaml b/jsk_pr2_startup/jsk_pr2_moveit/sensors_kinect.yaml
@@ -1,8 +1,15 @@
 sensors:
   - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
-    point_cloud_topic: /openni_c2/depth_registered/half/throttle_points
+    point_cloud_topic: /openni_c2/depth_registered/points_throttle
     max_range: 2.0
     point_subsample: 1
     padding_offset: 0.1
     padding_scale: 1.0
     filtered_cloud_topic: filtered_cloud
+  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
+    point_cloud_topic: /tilt_scan_shadow_filtered
+    max_range: 5.0
+#    point_subsample: 1
+    padding_offset: 0.06
+    padding_scale: 1.0
+    filtered_cloud_topic: filtered_laser_cloud
diff --git a/jsk_pr2_startup/jsk_pr2_moveit/sensors_laser.yaml b/jsk_pr2_startup/jsk_pr2_moveit/sensors_laser.yaml
@@ -1,6 +1,6 @@
 sensors:
   - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
-    point_cloud_topic: /tilt_laser_cloud2
+    point_cloud_topic: /tilt_scan_shadow_filtered
     max_range: 5.0
 #    point_subsample: 1
     padding_offset: 0.06

diff --git a/jsk_pr2_startup/jsk_pr2_moveit/start_pr2_moveit.launch b/jsk_pr2_startup/jsk_pr2_moveit/start_pr2_moveit.launch
@@ -1,12 +1,13 @@
 <launch>
   <arg name="USE_KINECT" default="true" />
 
-  <arg if="$(arg USE_KINECT)"
-       name="sensor_params_file"
-       value="$(find jsk_pr2_startup)/jsk_pr2_moveit/sensors_kinect.yaml" />
-  <arg unless="$(arg USE_KINECT)"
-       name="sensor_params_file"
-       value="$(find jsk_pr2_startup)/jsk_pr2_moveit/sensors_laser.yaml" />
+  <!-- <arg if="$(arg USE_KINECT)" -->
+  <!--      name="sensor_params_file" -->
+  <!--      value="$(find jsk_pr2_startup)/jsk_pr2_moveit/sensors_kinect.yaml" /> -->
+  <!-- <arg unless="$(arg USE_KINECT)" -->
+  <!--      name="sensor_params_file" -->
+  <!--      value="$(find jsk_pr2_startup)/jsk_pr2_moveit/sensors_laser.yaml" /> -->
+  <arg name="sensor_params_file" value="$(find jsk_pr2_startup)/jsk_pr2_moveit/sensors.yaml" />
 
   <include file="$(find pr2_moveit_config)/launch/planning_context.launch">
     <arg name="load_robot_description" value="false"/>