[Personalrobots-commit] SF.net SVN: personalrobots:[22748] pkg/trunk

[<tpr...@us...>]

Revision: 22748
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22748&view=rev
Author:   tpratkanis
Date:     2009-08-24 20:52:00 +0000 (Mon, 24 Aug 2009)

Log Message:
-----------
Fix scan to cloud extrapolation issues.

Modified Paths:
--------------
    pkg/trunk/demos/door_demos_gazebo/launch/pr2_door_test.launch
    pkg/trunk/stacks/common/laser_scan/src/scan_to_cloud.cpp

Modified: pkg/trunk/demos/door_demos_gazebo/launch/pr2_door_test.launch
===================================================================
--- pkg/trunk/demos/door_demos_gazebo/launch/pr2_door_test.launch	2009-08-24 20:47:22 UTC (rev 22747)
+++ pkg/trunk/demos/door_demos_gazebo/launch/pr2_door_test.launch	2009-08-24 20:52:00 UTC (rev 22748)
@@ -5,5 +5,7 @@
   <!--<node pkg="rosrecord" type="rosrecord" args=" -f door_demos_test.bag " />-->
   <test test-name="door_demos_test_open_door" pkg="door_demos_gazebo" type="door_demo_test_exec_test.py" time-limit="1000" />
   <node pkg="rostopic" type="rostopic" args="list" output="screen" />
+  <param name="/base_shadow_filter/notifier_tolerance" value="0.09" type="double" />
+  <param name="/tilt_shadow_filter/notifier_tolerance" value="0.09" type="double" />
 </launch>
  

Modified: pkg/trunk/stacks/common/laser_scan/src/scan_to_cloud.cpp
===================================================================
--- pkg/trunk/stacks/common/laser_scan/src/scan_to_cloud.cpp	2009-08-24 20:47:22 UTC (rev 22747)
+++ pkg/trunk/stacks/common/laser_scan/src/scan_to_cloud.cpp	2009-08-24 20:52:00 UTC (rev 22748)
@@ -75,6 +75,7 @@
     // TF
     tf::TransformListener* tf_;
     tf::MessageNotifier<sensor_msgs::LaserScan>* notifier_;
+    double tf_tolerance_;
     filters::FilterChain<sensor_msgs::PointCloud> cloud_filter_chain_;
     filters::FilterChain<sensor_msgs::LaserScan> scan_filter_chain_;
 
@@ -93,10 +94,11 @@
       ros::Node::instance()->param ("~scan_topic", scan_topic_, std::string("tilt_scan"));
       ros::Node::instance()->param ("~cloud_topic", cloud_topic_, std::string("tilt_laser_cloud_filtered"));
       ros::Node::instance()->param ("~laser_max_range", laser_max_range_, DBL_MAX);
+      ros::Node::instance()->param ("~notifier_tolerance", tf_tolerance_, 0.03);
 
       notifier_ = new tf::MessageNotifier<sensor_msgs::LaserScan>(tf_, ros::Node::instance(), 
           boost::bind(&ScanShadowsFilter::scanCallback, this, _1), scan_topic_, "base_link", 50);
-      notifier_->setTolerance(ros::Duration(0.03));
+      notifier_->setTolerance(ros::Duration(tf_tolerance_));
 
       ros::Node::instance()->advertise<sensor_msgs::PointCloud> (cloud_topic_, 10);
 


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