[Personalrobots-commit] SF.net SVN: personalrobots:[17380] pkg/trunk

[<is...@us...>]

Revision: 17380
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17380&view=rev
Author:   isucan
Date:     2009-06-19 22:27:26 +0000 (Fri, 19 Jun 2009)

Log Message:
-----------
changed pointcloud processing to remove self filter on a line-by-line basis

Modified Paths:
--------------
    pkg/trunk/demos/tabletop_manipulation/launch/laser-perception.launch
    pkg/trunk/util/new_robot_self_filter/src/self_filter.cpp

Modified: pkg/trunk/demos/tabletop_manipulation/launch/laser-perception.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/laser-perception.launch	2009-06-19 22:24:01 UTC (rev 17379)
+++ pkg/trunk/demos/tabletop_manipulation/launch/laser-perception.launch	2009-06-19 22:27:26 UTC (rev 17380)
@@ -3,29 +3,6 @@
   <include file="$(find pr2_defs)/pr2_planning_environment.launch" />
   <include file="$(find pr2_laser_tilt)/laser_tilt_controller.launch" />
   
-  <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" output="screen"  name="laser_scan_assembler">
-    <remap from="scan_in" to="tilt_scan"/>
-    <param name="tf_cache_time_secs" type="double" value="10.0" />
-    <param name="tf_tolerance_secs" type="double" value="0.0" />
-    <param name="max_scans" type="int" value="400" />
-    <param name="ignore_laser_skew" type="bool" value="true" />
-    <param name="fixed_frame" type="string" value="torso_lift_link" />
-    <param name="downsample_factor" type="int" value="2" />
-  </node>
-  
-  <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" output="screen" name="snapshotter">
-    <remap from="laser_scanner_signal" to="laser_tilt_controller/laser_scanner_signal"/>
-    <remap from="build_cloud" to="laser_scan_assembler/build_cloud" />
-    <remap from="full_cloud" to="snapshot_cloud" />
-  </node>
-  
-  <node pkg="new_robot_self_filter" type="self_filter" respawn="true" output="screen">
-    <remap from="robot_description" to="robotdesc/pr2" />
-    <remap from="cloud_in" to="snapshot_cloud" />
-    <remap from="cloud_out" to="snapshot_cloud_filtered" />
-  </node>
-
-  
   <node pkg="laser_scan" type="scan_to_cloud" output="screen">
     <param name="scan_topic" type="string" value="tilt_scan" />
     <param name="scan_filters" textfile="$(find laser_scan)/default_scan_shadows.xml" />
@@ -39,6 +16,22 @@
     <remap from="cloud_out" to="tilt_scan_cloud_filtered" />
   </node>
   
+  <node pkg="point_cloud_assembler" type="point_cloud_assembler_srv" output="screen"  name="point_cloud_assembler">
+    <remap from="scan_in" to="tilt_scan_cloud_filtered"/>
+    <param name="tf_cache_time_secs" type="double" value="10.0" />
+    <param name="tf_tolerance_secs" type="double" value="0.0" />
+    <param name="max_scans" type="int" value="400" />
+    <param name="ignore_laser_skew" type="bool" value="true" />
+    <param name="fixed_frame" type="string" value="torso_lift_link" />
+    <param name="downsample_factor" type="int" value="2" />
+  </node>
+  
+  <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" output="screen" name="snapshotter">
+    <remap from="laser_scanner_signal" to="laser_tilt_controller/laser_scanner_signal"/>
+    <remap from="build_cloud" to="point_cloud_assembler/build_cloud" />
+    <remap from="full_cloud" to="snapshot_cloud" />
+  </node>
+  
   <include file="$(find collision_map)/collision_map.launch" />
   
 </launch>

Modified: pkg/trunk/util/new_robot_self_filter/src/self_filter.cpp
===================================================================
--- pkg/trunk/util/new_robot_self_filter/src/self_filter.cpp	2009-06-19 22:24:01 UTC (rev 17379)
+++ pkg/trunk/util/new_robot_self_filter/src/self_filter.cpp	2009-06-19 22:27:26 UTC (rev 17380)
@@ -56,7 +56,7 @@
 	ros::WallTime tm = ros::WallTime::now();
 	sf_.update(*cloud, out);
 	double sec = (ros::WallTime::now() - tm).toSec();
-	ROS_INFO("Self filter: reduced %d points to %d points in %f seconds", (int)cloud->pts.size(), (int)out.pts.size(), sec);	
+	ROS_DEBUG("Self filter: reduced %d points to %d points in %f seconds", (int)cloud->pts.size(), (int)out.pts.size(), sec);
 	pointCloudPublisher_.publish(out);
     }
     


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