Menu
▾
▴
[Personalrobots-commit] SF.net SVN: personalrobots:[23502] pkg/trunk
|
From: <jl...@us...> - 2009-09-01 08:05:29
|
Revision: 23502
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23502&view=rev
Author: jleibs
Date: 2009-09-01 08:05:18 +0000 (Tue, 01 Sep 2009)
Log Message:
-----------
Merging in changes from reorgnization of laser pipeline.
Modified Paths:
--------------
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/lasers_and_filters.xml
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/manifest.xml
pkg/trunk/calibration_experimental/sandbox/laser_head_updater/manifest.xml
pkg/trunk/demos/2dnav_gazebo/config/lasers_and_filters.launch
pkg/trunk/demos/2dnav_gazebo/manifest.xml
pkg/trunk/demos/door_demos_gazebo/launch/perception_planner.xml
pkg/trunk/demos/door_demos_gazebo/manifest.xml
pkg/trunk/demos/milestone2/milestone2_actions/config/perception.xml
pkg/trunk/demos/plug_in/detect_plugstow.launch
pkg/trunk/demos/plug_in/integration/controllers.launch
pkg/trunk/demos/plug_in/manifest.xml
pkg/trunk/demos/test_2dnav_gazebo/manifest.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml
pkg/trunk/highlevel/doors/doors_core/manifest.xml
pkg/trunk/highlevel/doors/doors_core/src/action_detect_door.cpp
pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle.cpp
pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle_no_camera.cpp
pkg/trunk/mapping/annotated_planar_patch_map/launch/full_lifter.launch
pkg/trunk/mapping/annotated_planar_patch_map/launch/make_annotated_map/full_lifter.launch
pkg/trunk/mapping/annotated_planar_patch_map/launch/make_annotated_pcd_map/full_lifter.launch
pkg/trunk/mapping/annotated_planar_patch_map/launch/make_annotated_pcd_map_lift_only/full_lifter.launch
pkg/trunk/mapping/annotated_planar_patch_map/manifest.xml
pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_bind.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/pcd_assembler_srv.cpp
pkg/trunk/mapping/annotated_planar_patch_map/test/blank_map_full.launch
pkg/trunk/mapping/annotated_planar_patch_map/test/blank_map_server.launch
pkg/trunk/mapping/annotated_planar_patch_map/test/full_lifter.launch
pkg/trunk/mapping/annotated_planar_patch_map/test/lifter.launch
pkg/trunk/mapping/annotated_planar_patch_map/test/lifter_preprocessing.launch
pkg/trunk/mapping/annotated_planar_patch_map/test/setup.xml
pkg/trunk/mapping/annotated_planar_patch_map/test/test_laser_assembler.launch
pkg/trunk/mapping/door_tracker/launch/door_tracker.launch
pkg/trunk/mapping/door_tracker/launch/localization.launch
pkg/trunk/mapping/door_tracker/launch/scan_shadows.launch
pkg/trunk/mapping/door_tracker/manifest.xml
pkg/trunk/mapping/door_tracker/src/door_tracker.cpp
pkg/trunk/mapping/hallway_tracker/launch/hallway_tracker.launch
pkg/trunk/mapping/hallway_tracker/manifest.xml
pkg/trunk/mapping/hallway_tracker/src/hallway_tracker.cpp
pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/launch/perception_sim.launch
pkg/trunk/nav/visual_nav/manifest.xml
pkg/trunk/nav/visual_nav/src/ros_visual_nav.cpp
pkg/trunk/nav/wavefront/manifest.xml
pkg/trunk/nav/wavefront/src/wavefront_node.cpp
pkg/trunk/openrave_planning/ormanipulation/manifest.xml
pkg/trunk/openrave_planning/ormanipulation/startlasermap.ros.xml
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_laser_tilt/build_snapshots.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_laser_tilt/init.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_laser_tilt/manifest.xml
pkg/trunk/sandbox/3dnav_pr2/launch/perception/laser+stereo-perception.launch
pkg/trunk/sandbox/3dnav_pr2/launch/perception/laser-perception.launch
pkg/trunk/sandbox/3dnav_pr2/manifest.xml
pkg/trunk/sandbox/annotated_map_builder/config/perception.xml
pkg/trunk/sandbox/annotated_map_builder/manifest.xml
pkg/trunk/sandbox/doors_planner_core/launch/perception_planner.xml
pkg/trunk/sandbox/doors_planner_core/manifest.xml
pkg/trunk/sandbox/labeled_object_detector/include/detect_nearest_object_action.h
pkg/trunk/sandbox/labeled_object_detector/include/object_model.h
pkg/trunk/sandbox/labeled_object_detector/include/planar_object_detector.h
pkg/trunk/sandbox/labeled_object_detector/include/planar_object_detector_node.h
pkg/trunk/sandbox/labeled_object_detector/launch/whiteboard_detector_laser.xml
pkg/trunk/sandbox/labeled_object_detector/manifest.xml
pkg/trunk/sandbox/labeled_object_detector/src/planar_object_detector.cpp
pkg/trunk/sandbox/labeled_object_detector/test/test_planar_detector__laser.xml
pkg/trunk/sandbox/mturk_grab_object/launch/clouds.launch
pkg/trunk/sandbox/pcd_novelty/manifest.xml
pkg/trunk/sandbox/pcd_novelty/test/laser.xml
pkg/trunk/sandbox/pcd_novelty/test/laser_hist.xml
pkg/trunk/sandbox/person_data/config/perception.xml
pkg/trunk/sandbox/person_follower/config/perception.xml
pkg/trunk/sandbox/person_follower/src/follower.cpp
pkg/trunk/sandbox/point_cloud_basics_demo/manifest.xml
pkg/trunk/sandbox/point_cloud_basics_demo/test/demo2.launch
pkg/trunk/stacks/navigation/amcl/manifest.xml
pkg/trunk/stacks/navigation/costmap_2d/include/costmap_2d/costmap_2d_ros.h
pkg/trunk/stacks/navigation/costmap_2d/manifest.xml
pkg/trunk/stacks/semantic_mapping/door_handle_detector/launch/perception.xml
pkg/trunk/stacks/semantic_mapping/door_handle_detector/launch/setup_for_recording.launch
pkg/trunk/stacks/semantic_mapping/door_handle_detector/manifest.xml
pkg/trunk/stacks/slam_gmapping/gmapping/manifest.xml
pkg/trunk/stacks/trex/trex_pr2/cfg/launch_gazebo.xml
pkg/trunk/stacks/trex/trex_pr2/cfg/launch_gazebo_obstacle.xml
pkg/trunk/stacks/trex/trex_pr2_writing_test/launch/head_cart/perception.launch
pkg/trunk/stacks/trex/trex_pr2_writing_test/launch/perception.launch
pkg/trunk/stacks/trex/trex_pr2_writing_test/manifest.xml
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/launch/outlet_coarse_detection/perception.launch
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/launch/outlet_coarse_detection/perception2.launch
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/manifest.xml
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/outlet_spotting.cpp
pkg/trunk/stacks/visualization/rviz/manifest.xml
pkg/trunk/stacks/visualization/rviz/src/default_plugin/laser_scan_display.cpp
pkg/trunk/stacks/visualization/rviz/src/default_plugin/laser_scan_display.h
pkg/trunk/vision/people/manifest.xml
pkg/trunk/vision/people/src/calc_leg_features.cpp
pkg/trunk/vision/people/src/calc_leg_features.h
pkg/trunk/vision/people/src/leg_detector.cpp
pkg/trunk/vision/people/src/train_leg_detector.cpp
pkg/trunk/vision/recognition_lambertian/manifest.xml
Added Paths:
-----------
pkg/trunk/calibration_experimental/dense_laser_assembler/
pkg/trunk/calibration_experimental/dense_laser_assembler/include/
pkg/trunk/calibration_experimental/dense_laser_assembler/include/dense_laser_assembler/
pkg/trunk/calibration_experimental/dense_laser_assembler/msg/
pkg/trunk/calibration_experimental/dense_laser_assembler/scripts/
pkg/trunk/calibration_experimental/dense_laser_assembler/src/
pkg/trunk/calibration_experimental/dense_laser_assembler/src/dense_laser_assembler/
pkg/trunk/calibration_experimental/dense_laser_assembler/srv/
pkg/trunk/pr2/pr2_laser_snapshotter/
pkg/trunk/pr2/pr2_laser_snapshotter/src/
pkg/trunk/pr2/pr2_laser_snapshotter/srv/
pkg/trunk/pr2/pr2_laser_snapshotter/test/
pkg/trunk/stacks/laser_pipeline/laser_assembler/
pkg/trunk/stacks/laser_pipeline/laser_assembler/include/
pkg/trunk/stacks/laser_pipeline/laser_assembler/include/laser_assembler/
pkg/trunk/stacks/laser_pipeline/laser_assembler/src/
pkg/trunk/stacks/laser_pipeline/laser_assembler/src/point_cloud_assembler/
pkg/trunk/stacks/laser_pipeline/laser_assembler/srv/
pkg/trunk/stacks/laser_pipeline/laser_filters/
pkg/trunk/stacks/laser_pipeline/laser_filters/examples/
pkg/trunk/stacks/laser_pipeline/laser_filters/include/
pkg/trunk/stacks/laser_pipeline/laser_filters/include/laser_filters/
pkg/trunk/stacks/laser_pipeline/laser_filters/src/
pkg/trunk/stacks/laser_pipeline/laser_geometry/
pkg/trunk/stacks/laser_pipeline/laser_geometry/include/
pkg/trunk/stacks/laser_pipeline/laser_geometry/include/laser_geometry/
pkg/trunk/stacks/laser_pipeline/laser_geometry/src/
pkg/trunk/stacks/laser_pipeline/laser_geometry/test/
Removed Paths:
-------------
pkg/trunk/stacks/laser_pipeline/dense_laser_assembler/
pkg/trunk/stacks/laser_pipeline/laser_scan/
pkg/trunk/stacks/laser_pipeline/point_cloud_assembler/
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/lasers_and_filters.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/lasers_and_filters.xml 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/lasers_and_filters.xml 2009-09-01 08:05:18 UTC (rev 23502)
@@ -11,9 +11,9 @@
<node pkg="pr2_mechanism_controllers" type="send_laser_traj_cmd_ms2.py" args="laser_tilt_controller" />
<!-- Filter for tilt laser shadowing/veiling -->
-<node pkg="laser_scan" type="scan_to_cloud" respawn="true" machine="three" name="tilt_shadow_filter">
- <rosparam command="load" ns="scan_filters" file="$(find laser_scan)/default_scan_shadows.yaml" />
- <rosparam command="load" ns="cloud_filters" file="$(find laser_scan)/point_cloud_footprint.filters.yaml" />
+<node pkg="laser_filters" type="scan_to_cloud_filter_chain" respawn="true" machine="three" name="tilt_shadow_filter">
+ <rosparam command="load" ns="scan_filters" file="$(find laser_filters)/examples/shadow_filter_example.yaml" />
+ <rosparam command="load" ns="cloud_filters" file="$(find laser_filters)/examples/point_cloud_footprint_filter_example.yaml" />
<param name="scan_topic" value="tilt_scan" />
<param name="cloud_topic" value="tilt_scan_shadow_filtered" />
<param name="high_fidelity" value="true" />
@@ -75,9 +75,9 @@
</node>
<!-- Filter for base laser shadowing/veiling -->
-<node pkg="laser_scan" type="scan_to_cloud" respawn="true" machine="three" name="base_shadow_filter" >
- <rosparam command="load" ns="scan_filters" file="$(find laser_scan)/default_scan_shadows.yaml" />
- <rosparam command="load" ns="cloud_filters" file="$(find laser_scan)/point_cloud_footprint.filters.yaml" />
+<node pkg="laser_filters" type="scan_to_cloud_filter_chain" respawn="true" machine="three" name="base_shadow_filter" >
+ <rosparam command="load" ns="scan_filters" file="$(find laser_filters)/examples/shadow_filter_example.yaml" />
+ <rosparam command="load" ns="cloud_filters" file="$(find laser_filters)/examples/point_cloud_footprint_filter_example.yaml" />
<param name="scan_topic" value="base_scan" />
<param name="cloud_topic" value="base_scan_shadow_filtered" />
</node>
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/manifest.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/manifest.xml 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/manifest.xml 2009-09-01 08:05:18 UTC (rev 23502)
@@ -9,7 +9,7 @@
<depend package="robot_pose_ekf"/>
<depend package="teleop_base"/>
<depend package="semantic_point_annotator"/>
- <depend package="laser_scan"/>
+ <depend package="laser_filters"/>
<depend package="pr2_mechanism_controllers"/>
<depend package="pr2_alpha"/>
<depend package="map_server"/>
Property changes on: pkg/trunk/calibration_experimental/dense_laser_assembler
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/stacks/laser_pipeline/dense_laser_assembler:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Modified: pkg/trunk/calibration_experimental/sandbox/laser_head_updater/manifest.xml
===================================================================
--- pkg/trunk/calibration_experimental/sandbox/laser_head_updater/manifest.xml 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/calibration_experimental/sandbox/laser_head_updater/manifest.xml 2009-09-01 08:05:18 UTC (rev 23502)
@@ -15,9 +15,6 @@
<!-- mechanism -->
<depend package="pr2_mechanism_msgs" />
- <!-- common -->
- <depend package="laser_scan" />
-
<!-- common_msgs -->
<depend package="sensor_msgs" />
Modified: pkg/trunk/demos/2dnav_gazebo/config/lasers_and_filters.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/config/lasers_and_filters.launch 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/demos/2dnav_gazebo/config/lasers_and_filters.launch 2009-09-01 08:05:18 UTC (rev 23502)
@@ -12,7 +12,7 @@
<!-- laser scan -->
<!-- accumulate tilt_scan and publish by service call point_cloud_assembler_srv/build_cloud -->
<!--
-<node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" output="screen" name="laser_scan_assembler">
+<node pkg="laser_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="max_scans" type="int" value="400" />
@@ -21,7 +21,7 @@
</node>
-->
<!-- accumulate point_cloud_filtered and publish by service call point_cloud_assembler_srv/build_cloud -->
-<node pkg="point_cloud_assembler" type="point_cloud_assembler_srv" output="screen" name="point_cloud_assembler_filtered">
+<node pkg="laser_assembler" type="point_cloud_assembler_srv" output="screen" name="point_cloud_assembler_filtered">
<remap from="scan_in" to="robotlinks_cloud_filtered"/>
<param name="tf_cache_time_secs" type="double" value="10.0" />
<param name="max_scans" type="int" value="400" />
@@ -31,16 +31,16 @@
<!-- at laser_tilt_controller/laser_scanner_signal,
reads accumulated point cloud from point_cloud_assembler_srv by invoking point_cloud_assembler/build_cloud service call,
and publishes full_cloud, which is remapped to snapshot_cloud_filtered -->
-<node pkg="point_cloud_assembler" type="point_cloud_snapshotter" output="screen" name="snapshotter_filtered">
+<node pkg="pr2_laser_snapshotter" type="pr2_laser_snapshotter" output="screen" name="snapshotter_filtered">
<remap from="laser_scanner_signal" to="laser_tilt_controller/laser_scanner_signal"/>
<remap from="build_cloud" to="point_cloud_assembler_filtered/build_cloud" />
<remap from="full_cloud" to="snapshot_cloud_filtered" />
</node>
<!-- Filter for tilt laser shadowing/veiling -->
-<node pkg="laser_scan" type="scan_to_cloud" respawn="true" machine="three" name="tilt_shadow_filter">
- <rosparam command="load" ns="scan_filters" file="$(find laser_scan)/default_scan_shadows.yaml" />
- <rosparam command="load" ns="cloud_filters" file="$(find laser_scan)/point_cloud_footprint.filters.yaml" />
+<node pkg="laser_filters" type="scan_to_cloud_filter_chain" respawn="true" machine="three" name="tilt_shadow_filter">
+ <rosparam command="load" ns="scan_filters" file="$(find laser_filters)/examples/shadow_filter_example.yaml" />
+ <rosparam command="load" ns="cloud_filters" file="$(find laser_filters)/examples/point_cloud_footprint_filter_example.yaml" />
<param name="scan_topic" value="tilt_scan" />
<param name="cloud_topic" value="tilt_scan_shadow_filtered" />
<param name="high_fidelity" value="true" />
@@ -102,9 +102,9 @@
</node>
<!-- Filter for base laser shadowing/veiling -->
-<node pkg="laser_scan" type="scan_to_cloud" respawn="true" machine="three" name="base_shadow_filter" >
- <rosparam command="load" ns="scan_filters" file="$(find laser_scan)/default_scan_shadows.yaml" />
- <rosparam command="load" ns="cloud_filters" file="$(find laser_scan)/point_cloud_footprint.filters.yaml" />
+<node pkg="laser_filters" type="scan_to_cloud_filter_chain" respawn="true" machine="three" name="base_shadow_filter" >
+ <rosparam command="load" ns="scan_filters" file="$(find laser_filters)/examples/shadow_filter_example.yaml" />
+ <rosparam command="load" ns="cloud_filters" file="$(find laser_filters)/examples/point_cloud_footprint_filter_example.yaml" />
<param name="scan_topic" value="base_scan" />
<param name="cloud_topic" value="base_scan_shadow_filtered" />
</node>
Modified: pkg/trunk/demos/2dnav_gazebo/manifest.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/manifest.xml 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/demos/2dnav_gazebo/manifest.xml 2009-09-01 08:05:18 UTC (rev 23502)
@@ -17,7 +17,7 @@
<depend package="trex_pr2"/>
<depend package="robot_pose_ekf"/>
<depend package="pr2_gazebo"/>
- <depend package="point_cloud_assembler"/>
+ <depend package="laser_assembler"/>
<depend package="semantic_point_annotator"/>
<depend package="or_robot_self_filter"/>
<depend package="robot_self_filter"/>
Modified: pkg/trunk/demos/door_demos_gazebo/launch/perception_planner.xml
===================================================================
--- pkg/trunk/demos/door_demos_gazebo/launch/perception_planner.xml 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/demos/door_demos_gazebo/launch/perception_planner.xml 2009-09-01 08:05:18 UTC (rev 23502)
@@ -18,26 +18,26 @@
<node pkg="mux" type="throttle" args="1.0 stereo/cloud stereo/cloud_throttled" machine="four"/>
<!-- Filter for tilt laser shadowing/veiling -->
- <node pkg="laser_scan" type="scan_to_cloud" respawn="true" machine="three" name="tilt_shadow_filter">
- <rosparam command="load" ns="scan_filters" file="$(find laser_scan)/default_scan_shadows.yaml" />
- <rosparam command="load" ns="cloud_filters" file="$(find laser_scan)/point_cloud_footprint.filters.yaml" />
+ <node pkg="laser_filters" type="scan_to_cloud_filter_chain" respawn="true" machine="three" name="tilt_shadow_filter">
+ <rosparam command="load" ns="scan_filters" file="$(find laser_filters)/examples/shadow_filter_example.yaml" />
+ <rosparam command="load" ns="cloud_filters" file="$(find laser_filters)/examples/point_cloud_footprint_filter_example.yaml" />
<param name="scan_topic" value="tilt_scan" />
<param name="cloud_topic" value="tilt_scan_filtered" />
<param name="high_fidelity" value="true" />
</node>
<!-- Filter for base laser shadowing/veiling -->
- <node pkg="laser_scan" type="scan_to_cloud" respawn="true" machine="three" name="base_shadow_filter" >
- <rosparam command="load" ns="scan_filters" file="$(find laser_scan)/default_scan_shadows.yaml" />
- <rosparam command="load" ns="cloud_filters" file="$(find laser_scan)/point_cloud_footprint.filters.yaml" />
+ <node pkg="laser_filters" type="scan_to_cloud_filter_chain" respawn="true" machine="three" name="base_shadow_filter" >
+ <rosparam command="load" ns="scan_filters" file="$(find laser_filters)/examples/shadow_filter_example.yaml" />
+ <rosparam command="load" ns="cloud_filters" file="$(find laser_filters)/examples/point_cloud_footprint_filter_example.yaml" />
<param name="scan_topic" value="base_scan" />
<param name="cloud_topic" value="base_scan_marking" />
</node>
<!-- Laser scan assembler for tilt laser -->
- <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" name="laser_scan_assembler" respawn="true">
+ <node pkg="laser_assembler" type="laser_scan_assembler_srv" name="laser_scan_assembler" respawn="true">
<remap from="scan_in" to="tilt_scan"/>
- <rosparam command="load" ns="filters" file="$(find laser_scan)/default_scan_shadows.yaml" />
+ <rosparam command="load" ns="filters" file="$(find laser_filters)/examples/shadow_filter_example.yaml" />
<param name="tf_cache_time_secs" type="double" value="10.0" />
<param name="max_scans" type="int" value="1000" />
<param name="ignore_laser_skew" type="bool" value="true" />
@@ -46,7 +46,7 @@
</node>
<!-- Setup for detecting the plug on the base -->
- <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" output="screen" name="plugs_laser_scan_assembler" respawn="true">
+ <node pkg="laser_assembler" type="laser_scan_assembler_srv" output="screen" name="plugs_laser_scan_assembler" respawn="true">
<remap from="scan_in" to="tilt_scan"/>
<param name="tf_cache_time_secs" type="double" value="10.0" />
<param name="max_scans" type="int" value="400" />
@@ -55,7 +55,7 @@
<param name="downsample_factor" type="int" value="2" />
</node>
- <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" output="screen" name="plugs_snapshotter" respawn="true">
+ <node pkg="pr2_laser_snapshotter" type="pr2_laser_snapshotter" output="screen" name="plugs_snapshotter" respawn="true">
<remap from="laser_scanner_signal" to="laser_tilt_controller/laser_scanner_signal"/>
<remap from="build_cloud" to="plugs_laser_scan_assembler/build_cloud" />
<remap from="full_cloud" to="plug_snapshot_cloud" />
@@ -63,7 +63,7 @@
<!-- Generate single sweep scan -->
- <node pkg="point_cloud_assembler" type="point_cloud_srv" output="screen" name="point_cloud_srv" />
+ <node pkg="pr2_laser_snapshotter" type="point_cloud_srv" output="screen" name="point_cloud_srv" />
Modified: pkg/trunk/demos/door_demos_gazebo/manifest.xml
===================================================================
--- pkg/trunk/demos/door_demos_gazebo/manifest.xml 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/demos/door_demos_gazebo/manifest.xml 2009-09-01 08:05:18 UTC (rev 23502)
@@ -11,4 +11,5 @@
<depend package="rospy"/>
<depend package="robot_state_publisher"/>
<depend package="nav_msgs"/>
+ <depend package="laser_filters"/>
</package>
Modified: pkg/trunk/demos/milestone2/milestone2_actions/config/perception.xml
===================================================================
--- pkg/trunk/demos/milestone2/milestone2_actions/config/perception.xml 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/demos/milestone2/milestone2_actions/config/perception.xml 2009-09-01 08:05:18 UTC (rev 23502)
@@ -25,9 +25,9 @@
<!-- Filter for tilt laser shadowing/veiling -->
- <node pkg="laser_scan" type="scan_to_cloud" respawn="false" machine="three" name="tilt_shadow_filter">
- <rosparam command="load" ns="scan_filters" file="$(find laser_scan)/default_scan_shadows.yaml" />
- <rosparam command="load" ns="cloud_filters" file="$(find laser_scan)/point_cloud_footprint.filters.yaml" />
+ <node pkg="laser_filters" type="scan_to_cloud_filter_chain" respawn="false" machine="three" name="tilt_shadow_filter">
+ <rosparam command="load" ns="scan_filters" file="$(find laser_filters)/examples/shadow_filter_example.yaml" />
+ <rosparam command="load" ns="cloud_filters" file="$(find laser_filters)/examples/point_cloud_footprint_filter_example.yaml" />
<param name="scan_topic" value="tilt_scan" />
<param name="cloud_topic" value="tilt_scan_shadow_filtered" />
<param name="high_fidelity" value="true" />
@@ -89,9 +89,9 @@
</node>
<!-- Filter for base laser shadowing/veiling -->
- <node pkg="laser_scan" type="scan_to_cloud" respawn="false" machine="three" name="base_shadow_filter" >
- <rosparam command="load" ns="scan_filters" file="$(find laser_scan)/default_scan_shadows.yaml" />
- <rosparam command="load" ns="cloud_filters" file="$(find laser_scan)/point_cloud_footprint.filters.yaml" />
+ <node pkg="laser_filters" type="scan_to_cloud_filter_chain" respawn="false" machine="three" name="base_shadow_filter" >
+ <rosparam command="load" ns="scan_filters" file="$(find laser_filters)/examples/shadow_filter_example.yaml" />
+ <rosparam command="load" ns="cloud_filters" file="$(find laser_filters)/examples/point_cloud_footprint_filter_example.yaml" />
<param name="scan_topic" value="base_scan" />
<param name="cloud_topic" value="base_scan_shadow_filtered" />
</node>
@@ -150,9 +150,9 @@
</node>
<!-- Laser scan assembler for tilt laser -->
- <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" name="laser_scan_assembler" respawn="false">
+ <node pkg="laser_assembler" type="laser_scan_assembler_srv" name="laser_scan_assembler" respawn="false">
<remap from="scan_in" to="tilt_scan"/>
- <rosparam command="load" ns="filters" file="$(find laser_scan)/default_scan_shadows.yaml" />
+ <rosparam command="load" ns="filters" file="$(find laser_filters)/examples/shadow_filter_example.yaml" />
<param name="tf_cache_time_secs" type="double" value="10.0" />
<param name="max_scans" type="int" value="1000" />
<param name="ignore_laser_skew" type="bool" value="true" />
@@ -161,7 +161,7 @@
</node>
<!-- Setup for detecting the plug on the base -->
- <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" name="plugs_laser_scan_assembler" respawn="false">
+ <node pkg="laser_assembler" type="laser_scan_assembler_srv" name="plugs_laser_scan_assembler" respawn="false">
<remap from="scan_in" to="tilt_scan"/>
<param name="tf_cache_time_secs" type="double" value="10.0" />
<param name="max_scans" type="int" value="400" />
@@ -170,7 +170,7 @@
<param name="downsample_factor" type="int" value="2" />
</node>
- <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" name="plugs_snapshotter" respawn="false">
+ <node pkg="pr2_laser_snapshotter" type="pr2_laser_snapshotter" name="plugs_snapshotter" respawn="false">
<remap from="laser_scanner_signal" to="laser_tilt_controller/laser_scanner_signal"/>
<remap from="build_cloud" to="plugs_laser_scan_assembler/build_cloud" />
<remap from="full_cloud" to="plug_snapshot_cloud" />
@@ -198,7 +198,7 @@
<!-- Generate single sweep scan -->
- <node pkg="point_cloud_assembler" type="point_cloud_srv" name="point_cloud_srv" />
+ <node pkg="pr2_laser_snapshotter" type="point_cloud_srv" name="point_cloud_srv" />
Modified: pkg/trunk/demos/plug_in/detect_plugstow.launch
===================================================================
--- pkg/trunk/demos/plug_in/detect_plugstow.launch 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/demos/plug_in/detect_plugstow.launch 2009-09-01 08:05:18 UTC (rev 23502)
@@ -2,7 +2,7 @@
<node pkg="pr2_mechanism_control" type="spawner.py" args="$(find pr2_experimental_controllers)/laser_tilt/laser_tilt_controller.xml" />
<!-- <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd.py" args="laser_tilt_controller linear 6 .11 1.36" /> -->
- <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" output="screen" name="laser_scan_assembler">
+ <node pkg="laser_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="max_scans" type="int" value="400" />
@@ -11,7 +11,7 @@
<param name="downsample_factor" type="int" value="2" />
</node>
- <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" output="screen" name="snapshotter">
+ <node pkg="pr2_laser_snapshotter" type="pr2_laser_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" />
Modified: pkg/trunk/demos/plug_in/integration/controllers.launch
===================================================================
--- pkg/trunk/demos/plug_in/integration/controllers.launch 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/demos/plug_in/integration/controllers.launch 2009-09-01 08:05:18 UTC (rev 23502)
@@ -29,7 +29,7 @@
<node pkg="pr2_mechanism_control" type="spawner.py" args="--stopped $(find pr2_experimental_controllers)/laser_tilt/laser_tilt_controller.xml" />
- <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" output="screen" name="laser_scan_assembler" respawn="true">
+ <node pkg="laser_assembler" type="laser_scan_assembler_srv" output="screen" name="laser_scan_assembler" respawn="true">
<remap from="scan_in" to="tilt_scan"/>
<param name="tf_cache_time_secs" type="double" value="10.0" />
<param name="max_scans" type="int" value="400" />
@@ -38,7 +38,7 @@
<param name="downsample_factor" type="int" value="2" />
</node>
- <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" output="screen" name="snapshotter">
+ <node pkg="pr2_laser_snapshotter" type="pr2_laser_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" />
Modified: pkg/trunk/demos/plug_in/manifest.xml
===================================================================
--- pkg/trunk/demos/plug_in/manifest.xml 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/demos/plug_in/manifest.xml 2009-09-01 08:05:18 UTC (rev 23502)
@@ -15,7 +15,7 @@
<depend package="pr2_etherCAT" />
<depend package="joy" />
<depend package="outlet_detection" />
- <depend package="point_cloud_assembler" />
+ <depend package="laser_assembler" />
<depend package="pr2_experimental_controllers" />
<depend package="plug_onbase_detector" />
<depend package="plugs_msgs"/>
Modified: pkg/trunk/demos/test_2dnav_gazebo/manifest.xml
===================================================================
--- pkg/trunk/demos/test_2dnav_gazebo/manifest.xml 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/demos/test_2dnav_gazebo/manifest.xml 2009-09-01 08:05:18 UTC (rev 23502)
@@ -13,7 +13,7 @@
<depend package="robot_pose_ekf"/>
<depend package="pr2_gazebo"/>
<depend package="tf"/>
- <depend package="point_cloud_assembler"/>
+ <depend package="laser_assembler"/>
<depend package="std_msgs"/>
<depend package="robot_actions"/>
<depend package="pr2_robot_actions"/>
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml 2009-09-01 08:05:18 UTC (rev 23502)
@@ -14,7 +14,6 @@
<depend package="pr2_gazebo" />
<depend package="pr2_ogre" />
<depend package="gazebo_worlds" />
- <depend package="laser_scan" />
<depend package="sensor_msgs" />
<depend package="stereo_image_proc" />
</package>
Modified: pkg/trunk/highlevel/doors/doors_core/manifest.xml
===================================================================
--- pkg/trunk/highlevel/doors/doors_core/manifest.xml 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/highlevel/doors/doors_core/manifest.xml 2009-09-01 08:05:18 UTC (rev 23502)
@@ -31,7 +31,8 @@
<depend package="costmap_2d"/>
<depend package="base_local_planner"/>
<depend package="door_functions"/>
- <depend package="point_cloud_assembler"/>
+ <depend package="laser_assembler"/>
+ <depend package="pr2_laser_snapshotter"/>
<export>
<cpp cflags="-I${prefix}/msg/cpp -I${prefix}/srv/cpp -I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib "/>
Modified: pkg/trunk/highlevel/doors/doors_core/src/action_detect_door.cpp
===================================================================
--- pkg/trunk/highlevel/doors/doors_core/src/action_detect_door.cpp 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/highlevel/doors/doors_core/src/action_detect_door.cpp 2009-09-01 08:05:18 UTC (rev 23502)
@@ -37,7 +37,7 @@
#include <door_handle_detector/DoorsDetectorCloud.h>
#include <door_handle_detector/geometric_helper.h>
#include <door_functions/door_functions.h>
-#include <point_cloud_assembler/BuildCloudAngle.h>
+#include <pr2_laser_snapshotter/BuildCloudAngle.h>
#include <pr2_robot_actions/set_hokuyo_mode.h>
#include "doors_core/action_detect_door.h"
@@ -135,8 +135,8 @@
if (isPreemptRequested()) return false;
ROS_INFO("DetectDoorAction: get a point cloud from the door");
- point_cloud_assembler::BuildCloudAngle::Request req_pointcloud;
- point_cloud_assembler::BuildCloudAngle::Response res_pointcloud;
+ pr2_laser_snapshotter::BuildCloudAngle::Request req_pointcloud;
+ pr2_laser_snapshotter::BuildCloudAngle::Response res_pointcloud;
req_pointcloud.angle_begin = -atan2(door_top - laser_height, dist);
req_pointcloud.angle_end = atan2(laser_height - door_bottom, dist);
req_pointcloud.duration = 10.0;
Modified: pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle.cpp
===================================================================
--- pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle.cpp 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle.cpp 2009-09-01 08:05:18 UTC (rev 23502)
@@ -1,13 +1,13 @@
/*********************************************************************
* Software License Agreement (BSD License)
- *
+ *
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
- *
+ *
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
- *
+ *
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
@@ -17,7 +17,7 @@
* * Neither the name of Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
- *
+ *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -39,7 +39,7 @@
#include <door_functions/door_functions.h>
#include <door_msgs/Door.h>
#include <boost/thread/thread.hpp>
-#include <point_cloud_assembler/BuildCloudAngle.h>
+#include <pr2_laser_snapshotter/BuildCloudAngle.h>
#include <kdl/frames.hpp>
#include <pr2_robot_actions/set_hokuyo_mode.h>
#include "doors_core/action_detect_handle.h"
@@ -58,7 +58,7 @@
static const unsigned int max_retries = 5;
static const double handle_dimension = 0.07; // [m] this is the radius of a half circle approximating the handle
-DetectHandleAction::DetectHandleAction(tf::TransformListener& tf):
+DetectHandleAction::DetectHandleAction(tf::TransformListener& tf):
robot_actions::Action<door_msgs::Door, door_msgs::Door>("detect_handle"),
tf_(tf)
{
@@ -84,7 +84,7 @@
door_msgs::Door goal_tr;
transformTo(tf_, fixed_frame, goal, goal_tr, fixed_frame);
- // try to detect handle
+ // try to detect handle
for (unsigned int nr_tries=0; nr_tries<max_retries; nr_tries++){
// check for preemption
@@ -145,7 +145,7 @@
feedback.handle.x = (result_laser.handle.x + result_camera.handle.x)/2.0;
feedback.handle.y = (result_laser.handle.y + result_camera.handle.y)/2.0;
feedback.handle.z = (result_laser.handle.z + result_camera.handle.z)/2.0;
-
+
// take detection angle into account
geometry_msgs::Point32 handle_robot_point;
if (!transformPointTo(tf_, feedback.header.frame_id, "base_footprint", feedback.header.stamp, feedback.handle, handle_robot_point, fixed_frame, feedback.header.stamp)){
@@ -223,15 +223,15 @@
handlepoint[2] = 0;
double dist = handlepoint.length();
ROS_INFO("tilt laser is at height %f, and door at distance %f", laser_height, dist);
-
+
// set the laser scanner to intensity mode
pr2_robot_actions::setHokuyoMode("tilt_hokuyo_node", "intensity");
// gets a point cloud from the point_cloud_srv
if (isPreemptRequested()) return false;
ROS_INFO("get a point cloud from the door");
- point_cloud_assembler::BuildCloudAngle::Request req_pointcloud;
- point_cloud_assembler::BuildCloudAngle::Response res_pointcloud;
+ pr2_laser_snapshotter::BuildCloudAngle::Request req_pointcloud;
+ pr2_laser_snapshotter::BuildCloudAngle::Response res_pointcloud;
req_pointcloud.angle_begin = -atan2(handle_top - laser_height, dist);
req_pointcloud.angle_end = atan2(laser_height - handle_bottom, dist);
req_pointcloud.duration = scan_height/scan_speed;
@@ -285,9 +285,9 @@
ROS_ERROR("Door hinge side is not specified");
return false;
}
- cout << "door_pnt.point " << door_in.header.frame_id << " "
- << door_pnt.point.x << " "
- << door_pnt.point.y << " "
+ cout << "door_pnt.point " << door_in.header.frame_id << " "
+ << door_pnt.point.x << " "
+ << door_pnt.point.y << " "
<< door_pnt.point.z << endl;
pub_.publish(door_pnt);
ros::Duration().fromSec(2).sleep();
Modified: pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle_no_camera.cpp
===================================================================
--- pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle_no_camera.cpp 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle_no_camera.cpp 2009-09-01 08:05:18 UTC (rev 23502)
@@ -1,13 +1,13 @@
/*********************************************************************
* Software License Agreement (BSD License)
- *
+ *
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
- *
+ *
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
- *
+ *
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
@@ -17,7 +17,7 @@
* * Neither the name of Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
- *
+ *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -39,7 +39,7 @@
#include <door_functions/door_functions.h>
#include <door_msgs/Door.h>
#include <boost/thread/thread.hpp>
-#include <point_cloud_assembler/BuildCloudAngle.h>
+#include <pr2_laser_snapshotter/BuildCloudAngle.h>
#include "doors_core/action_detect_handle_no_camera.h"
using namespace ros;
@@ -53,7 +53,7 @@
static const double scan_height = 0.4; //[m]
static const unsigned int max_retries = 5;
-DetectHandleNoCameraAction::DetectHandleNoCameraAction(tf::TransformListener& tf):
+DetectHandleNoCameraAction::DetectHandleNoCameraAction(tf::TransformListener& tf):
robot_actions::Action<door_msgs::Door, door_msgs::Door>("detect_handle_no_camera"),
tf_(tf)
{
@@ -79,7 +79,7 @@
door_msgs::Door goal_tr;
transformTo(tf_, fixed_frame, goal, goal_tr, fixed_frame);
- // try to detect handle
+ // try to detect handle
for (unsigned int nr_tries=0; nr_tries<max_retries; nr_tries++){
// check for preemption
@@ -144,7 +144,7 @@
feedback.handle.x = (result_laser.handle.x + result_camera.handle.x)/2.0;
feedback.handle.y = (result_laser.handle.y + result_camera.handle.y)/2.0;
feedback.handle.z = (result_laser.handle.z + result_camera.handle.z)/2.0;
-
+
ROS_INFO("Found handle in %i tries", nr_tries+1);
return robot_actions::SUCCESS;
}
@@ -187,12 +187,12 @@
double handle_bottom = handlepoint[2]-(scan_height/2.0);
double handle_top = handlepoint[2]+(scan_height/2.0);
ROS_INFO("tilt laser is at height %f, and door at distance %f", laser_height, dist);
-
+
// gets a point cloud from the point_cloud_srv
if (isPreemptRequested()) return false;
ROS_INFO("get a point cloud from the door");
- point_cloud_assembler::BuildCloudAngle::Request req_pointcloud;
- point_cloud_assembler::BuildCloudAngle::Response res_pointcloud;
+ pr2_laser_snapshotter::BuildCloudAngle::Request req_pointcloud;
+ pr2_laser_snapshotter::BuildCloudAngle::Response res_pointcloud;
req_pointcloud.angle_begin = -atan2(handle_top - laser_height, dist);
req_pointcloud.angle_end = atan2(laser_height - handle_bottom, dist);
req_pointcloud.duration = scan_height/scan_speed;
@@ -236,9 +236,9 @@
door_pnt.point.x = (door_in.door_p1.x+door_in.door_p2.x)/2.0;
door_pnt.point.y = (door_in.door_p1.y+door_in.door_p2.y)/2.0;
door_pnt.point.z = 0.9;
- cout << "door_pnt.point " << door_in.header.frame_id << " "
- << door_pnt.point.x << " "
- << door_pnt.point.y << " "
+ cout << "door_pnt.point " << door_in.header.frame_id << " "
+ << door_pnt.point.x << " "
+ << door_pnt.point.y << " "
<< door_pnt.point.z << endl;
pub_.publish(door_pnt);
ros::Duration().fromSec(2).sleep();
Modified: pkg/trunk/mapping/annotated_planar_patch_map/launch/full_lifter.launch
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/launch/full_lifter.launch 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/mapping/annotated_planar_patch_map/launch/full_lifter.launch 2009-09-01 08:05:18 UTC (rev 23502)
@@ -24,7 +24,7 @@
- <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" output="screen"
+ <node pkg="laser_assembler" type="laser_scan_assembler_srv" output="screen"
name="laser_scan_assembler">
<remap from="scan_in" to="tilt_scan"/>
@@ -34,7 +34,7 @@
<param name="fixed_frame" type="string" value="map" />
</node>
- <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" output="screen" name="snapshotter">
+ <node pkg="pr2_laser_snapshotter" type="pr2_laser_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" />
Modified: pkg/trunk/mapping/annotated_planar_patch_map/launch/make_annotated_map/full_lifter.launch
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/launch/make_annotated_map/full_lifter.launch 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/mapping/annotated_planar_patch_map/launch/make_annotated_map/full_lifter.launch 2009-09-01 08:05:18 UTC (rev 23502)
@@ -7,7 +7,7 @@
- <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" output="screen"
+ <node pkg="laser_assembler" type="laser_scan_assembler_srv" output="screen"
name="laser_scan_assembler">
<remap from="scan_in" to="tilt_scan"/>
@@ -19,7 +19,7 @@
- <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" output="screen" name="snapshotter">
+ <node pkg="pr2_laser_snapshotter" type="pr2_laser_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" />
Modified: pkg/trunk/mapping/annotated_planar_patch_map/launch/make_annotated_pcd_map/full_lifter.launch
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/launch/make_annotated_pcd_map/full_lifter.launch 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/mapping/annotated_planar_patch_map/launch/make_annotated_pcd_map/full_lifter.launch 2009-09-01 08:05:18 UTC (rev 23502)
@@ -4,7 +4,7 @@
<include file="$(find annotated_planar_patch_map)/launch/make_annotated_pcd_map/stereo.launch" />
- <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" output="screen"
+ <node pkg="laser_assembler" type="laser_scan_assembler_srv" output="screen"
name="laser_scan_assembler" respawn="true">
<remap from="scan_in" to="tilt_scan"/>
@@ -14,7 +14,7 @@
<param name="fixed_frame" type="string" value="/map" />
</node>
- <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" output="screen" name="snapshotter">
+ <node pkg="pr2_laser_snapshotter" type="pr2_laser_snapshotter" output="screen" name="snapshotter">
<remap from="laser_scanner_signal" to="laser_tilt_controller/laser_scanner_signal"/>
<remap from="build_cloud" to="laser_scan_assembler/build_cloud" />
<remap from="full_cloud" to="snapshot_cloud" />
Modified: pkg/trunk/mapping/annotated_planar_patch_map/launch/make_annotated_pcd_map_lift_only/full_lifter.launch
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/launch/make_annotated_pcd_map_lift_only/full_lifter.launch 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/mapping/annotated_planar_patch_map/launch/make_annotated_pcd_map_lift_only/full_lifter.launch 2009-09-01 08:05:18 UTC (rev 23502)
@@ -4,7 +4,7 @@
<include file="$(find annotated_planar_patch_map)/launch/make_annotated_pcd_map_lift_only/stereo.launch" />
- <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" output="screen"
+ <node pkg="laser_assembler" type="laser_scan_assembler_srv" output="screen"
name="laser_scan_assembler" respawn="true">
<remap from="scan_in" to="tilt_scan"/>
@@ -14,7 +14,7 @@
<param name="fixed_frame" type="string" value="/base_link" />
</node>
- <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" output="screen" name="snapshotter">
+ <node pkg="pr2_laser_snapshotter" type="pr2_laser_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" />
Modified: pkg/trunk/mapping/annotated_planar_patch_map/manifest.xml
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/manifest.xml 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/mapping/annotated_planar_patch_map/manifest.xml 2009-09-01 08:05:18 UTC (rev 23502)
@@ -20,7 +20,8 @@
<depend package="rostest"/>
<depend package="point_cloud_mapping" />
- <depend package="point_cloud_assembler"/>
+ <depend package="laser_assembler"/>
+ <depend package="pr2_laser_snapshotter"/>
<depend package="cv_mech_turk" />
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_bind.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_bind.cpp 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_bind.cpp 2009-09-01 08:05:18 UTC (rev 23502)
@@ -71,7 +71,7 @@
std::string query_;
- BindToObservation()
+ BindToObservation()
{
pub_=n_.advertise<annotated_map_msgs::TaggedPolygonalMap> ("bound_map", 1) ;
@@ -95,36 +95,36 @@
QueryAnnotatedMap::Request map_req ;
QueryAnnotatedMap::Response map_resp ;
-
+
req.begin = ros::Time(0.0);//start_time;
req.end = ros::Time::now();
req.query = query_;
-
+
if (!ros::service::call("geom_global_map", req, resp))
{
ROS_ERROR("Failed to call query_annotated_map service.");
return;
- }
+ }
QueryAnnotatedMap::Request local_map_req ;
QueryAnnotatedMap::Response local_map_resp ;
-
+
req.begin = ros::Time(0.0);//start_time;
req.end = ros::Time::now();
req.query = query_;
-
+
if (!ros::service::call("geom_local_map", local_map_req, local_map_resp))
{
ROS_ERROR("Failed to call query_local_map service.");
return;
- }
+ }
annotated_map_msgs::TaggedPolygonalMap global_map_locally;
annotated_map_lib::transformAnyObject(local_map_resp.map.frame_id,local_map_resp.map.stamp,tf_,local_map_resp.map,global_map_locally);
-
+
transferAnnotations(global_map_locally,local_map_resp.map,0.1);
-
+
ros::Node::instance()->publish("full_map", local_map_resp.map) ;
ROS_DEBUG("Annotation binder::Published map size=%u", local_map_resp.map.get_polygons_size()) ;
@@ -142,8 +142,8 @@
break;
}
}
- }
-
+ }
+
} ;
}
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp 2009-09-01 08:05:18 UTC (rev 23502)
@@ -76,7 +76,7 @@
#include "object_names/Name2Float.h"
#include "object_names/Name2Color.h"
-#include "point_cloud_assembler/BuildCloud.h"
+#include "laser_assembler/AssembleScans.h"
#include "point_cloud_mapping/normal_estimation_in_proc.h"
@@ -96,7 +96,7 @@
{
public:
- AnnotationLifterToPcdViaService()
+ AnnotationLifterToPcdViaService()
{
}
@@ -116,7 +116,7 @@
ROS_INFO_STREAM("Local fixed frame is " <<local_fixed_frame_);
/*Geometry location tolerance -ignored now*/
- n_.param( std::string("~dist_tolerance"), dist_tolerance_, -10.0);
+ n_.param( std::string("~dist_tolerance"), dist_tolerance_, -10.0);
n_.param( std::string("~max_depth"), max_depth_, 5.0);
n_.param( std::string("~min_depth"), min_depth_, 0.01);
@@ -132,8 +132,8 @@
n_.param( std::string("~lifting_delay"), delay, 0.0);
lifting_delay_=ros::Duration(delay);
ROS_INFO_STREAM("Lifting delay:"<< lifting_delay_);
-
+
/*Geometry querying config */
double interval;
n_.param( std::string("~interval_before"), interval, 1.0);
@@ -156,7 +156,7 @@
lifted_pub_=n_.advertise<sensor_msgs::PointCloud>(out_topic_name_,1);
//original_pub_=n_.advertise<sensor_msgs::PointCloud>(out_topic_name_,1);
-
+
annotation_notifier_=new tf::MessageNotifier<cv_mech_turk::ExternalAnnotation>(*tf_,
boost::bind(&AnnotationLifterToPcdViaService::handleAnnotation, this,_1),
std::string("annotations_2d"),
@@ -220,11 +220,11 @@
return;
}
active_image_id_=srv.response.id;
-
+
}
- point_cloud_assembler::BuildCloud::Request req;
- point_cloud_assembler::BuildCloud::Response resp;
+ laser_assembler::AssembleScans::Request req;
+ laser_assembler::AssembleScans::Response resp;
req.begin = annotation->reference_time-interval_before_image_;
req.end = annotation->reference_time+interval_after_image_;
@@ -239,8 +239,8 @@
}
}
- void liftAndSend(const boost::shared_ptr<cv_mech_turk::ExternalAnnotation const> annotation,
- const boost::shared_ptr<sensor_msgs::CameraInfo const> cam_info,
+ void liftAndSend(const boost::shared_ptr<cv_mech_turk::ExternalAnnotation const> annotation,
+ const boost::shared_ptr<sensor_msgs::CameraInfo const> cam_info,
const sensor_msgs::PointCloud& cloud)
{
sensor_msgs::PointCloud transformed_map_3D;
@@ -276,14 +276,14 @@
}
- void bindAnnotations(cv_mech_turk::ExternalAnnotationConstPtr annotation,
- const sensor_msgs::PointCloud& map_2D, const sensor_msgs::PointCloud& map_3D,
+ void bindAnnotations(cv_mech_turk::ExternalAnnotationConstPtr annotation,
+ const sensor_msgs::PointCloud& map_2D, const sensor_msgs::PointCloud& map_3D,
sensor_msgs::PointCloud& map_final)
{
// Allocate overlap buffer to store 1-1 correspondence
unsigned int num_3D_pts=map_3D.points.size();
- printf("%d n3dp\n",num_3D_pts);
+ printf("%d n3dp\n",num_3D_pts);
std::vector<int> overlap;
@@ -313,7 +313,7 @@
object_colors[0]=blank_color;
}
-
+
std::vector<std::pair<double,int > > polygon_areas;
std::vector<geometry_msgs::Polygon > gPolygons;
@@ -323,9 +323,9 @@
for(unsigned int iAnnotatedPolygon=0;iAnnotatedPolygon<num_poly;iAnnotatedPolygon++)
{
ROS_INFO_STREAM(iAnnotatedPolygon);
- const cv_mech_turk::AnnotationPolygon &poly=annotation->polygons[iAnnotatedPolygon];
+ const cv_mech_turk::AnnotationPolygon &poly=annotation->polygons[iAnnotatedPolygon];
geometry_msgs::Polygon &poly2=gPolygons[iAnnotatedPolygon];
-
+
unsigned int pt_count=poly.get_control_points_size();
poly2.points.resize(pt_count);
ROS_INFO_STREAM("RSZ: "<<iAnnotatedPolygon);
@@ -343,15 +343,15 @@
}
sort(polygon_areas.begin(),polygon_areas.end());
-
+
int num_in=0;
for(unsigned int ordered_polygon_idx=0;ordered_polygon_idx<num_poly;ordered_polygon_idx++)
{
int iAnnotatedPolygon=polygon_areas[ordered_polygon_idx].second;
- const cv_mech_turk::AnnotationPolygon &poly=annotation->polygons[iAnnotatedPolygon];
+ const cv_mech_turk::AnnotationPolygon &poly=annotation->polygons[iAnnotatedPolygon];
ROS_INFO_STREAM(ordered_polygon_idx << " \\ " << iAnnotatedPolygon);
-
+
unsigned int pt_count=poly.get_control_points_size();
if(pt_count<3)
{
@@ -379,7 +379,7 @@
object_names::Name2Color::Request req;
object_names::Name2Color::Response resp;
req.name=poly.object_name;
-
+
ros::service::call("name_to_color",req,resp);
object_colors[iAnnotatedPolygon+1]=resp.color;
}
@@ -411,21 +411,21 @@
pt.y=map_2D.points[iPt].y;
double dist = cvPointPolygonTest( poly_annotation, pt, 0 );
-
+
if(dist>dist_tolerance_)
{
//If the point is inside the polygon, assign it to this annotation.
num_in++;
overlap[iPt]=iAnnotatedPolygon+1;
}
- }
+ }
cvReleaseMat( &poly_annotation );
}
for(unsigned int iPt = 0; iPt<num_3D_pts; iPt++)
{
if(overlap[iPt]>0)
continue;
-
+
bool in_depth=(map_2D.points[iPt].z <= max_depth_) && (map_2D.points[iPt].z >= min_depth_);
if(! in_depth)
{
@@ -453,7 +453,7 @@
}
if(use_colors_)
{
- nCout+=1;
+ nCout+=1;
}
if(annotate_image_id_)
{
@@ -530,14 +530,14 @@
for(unsigned int iC=0;iC<nC;iC++)
{
map_final.channels[iC].values[iOut]=map_3D.channels[iC].values[iPt];
- }
+ }
if(overlap[iPt]>0)
map_final.channels[new_channel_id].values[iOut] = object_labels[overlap[iPt]-1];
else
map_final.channels[new_channel_id].values[iOut] = 0;
if(annotate_reprojection_)
- {
+ {
map_final.channels[chan_X_id].values[iOut] = map_2D.points[iPt].x;
map_final.channels[chan_Y_id].values[iOut] = map_2D.points[iPt].y;
map_final.channels[chan_Z_id].values[iOut] = map_2D.points[iPt].z;
@@ -628,7 +628,7 @@
{
fprintf(stderr, "%s\n", e.what());
}
-
+
return 0;
}
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/pcd_assembler_srv.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/pcd_assembler_srv.cpp 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/pcd_assembler_srv.cpp 2009-09-01 08:05:18 UTC (rev 23502)
@@ -38,11 +38,11 @@
#include "annotated_planar_patch_map/generic_map_base_assembler_srv.h"
// Service
-#include "point_cloud_assembler/BuildCloud.h"
+#include "laser_assembler/AssembleScans.h"
using namespace annotated_map_msgs;
using namespace std ;
-using namespace point_cloud_assembler;
+using namespace laser_assembler;
namespace annotated_planar_patch_map
{
@@ -62,7 +62,7 @@
PcdAssemblerSrv() : GenericMapBaseAssemblerSrv<sensor_msgs::PointCloud,sensor_msgs::PointCloud>()
{
// ***** Start Services *****
- svc_ = n_.advertiseService<BuildCloud::Request,BuildCloud::Response>("~build_cloud", boost::bind(&PcdAssemblerSrv::buildCloud, this,_1,_2)) ;
+ svc_ = n_.advertiseService<AssembleScans::Request,AssembleScans::Response>("~build_cloud", boost::bind(&PcdAssemblerSrv::buildCloud, this,_1,_2)) ;
}
@@ -84,11 +84,11 @@
}
- bool buildCloud(BuildCloud::Request& req, BuildCloud::Response& resp)
+ bool buildCloud(AssembleScans::Request& req, AssembleScans::Response& resp)
{
ROS_DEBUG("Starting Service Request\n") ;
ROS_DEBUG_STREAM( "\tFrom: \t" << req.begin << "\n\tTo:\t" << req.end <<"\n") ;
-
+
scan_hist_mutex_.lock() ;
// Determine where in our history we actually are
unsigned int i = 0 ;
@@ -104,10 +104,10 @@
ROS_DEBUG_STREAM( "Last scan before the interval\t" << scan_hist_[i-1].header.stamp<<"\n" );
else
ROS_DEBUG_STREAM( "No scans before the interval\n");
-
-
+
+
unsigned int req_pts = 0 ; // Keep a total of the points in the current request
// Find the end of the request
while ( i < scan_hist_.size() && // Don't go past end of deque
@@ -121,7 +121,7 @@
ROS_DEBUG_STREAM( "First scan after the interval:\t" << scan_hist_[i].header.stamp << "\n");
else
ROS_DEBUG_STREAM( "No scans after the interval\n");
-
+
if (start_index == past_end_index)
{
resp.cloud.header.frame_id = fixed_frame_ ;
@@ -147,7 +147,7 @@
map.channels[iC].values.resize(req_pts);
map.channels[iC].name=scan_hist_[start_index].channels[iC].name;
}
-
+
unsigned int cloud_count = 0 ;
for (i=start_index; i<past_end_index; i+=downsample_factor_)
{
@@ -185,6 +185,6 @@
PcdAssemblerSrv assembler;
ros::spin();
-
+
return 0;
}
Modified: pkg/trunk/mapping/annotated_planar_patch_map/test/blank_map_full.launch
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/test/blank_map_full.launch 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/mapping/annotated_planar_patch_map/test/blank_map_full.launch 2009-09-01 08:05:18 UTC (rev 23502)
@@ -2,7 +2,7 @@
<param name="/use_sim_time" value="true"/>
<!-- Get point clouds -->
- <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" output="screen"
+ <node pkg="laser_assembler" type="laser_scan_assembler_srv" output="screen"
name="laser_scan_assembler">
<remap from="scan_in" to="tilt_scan"/>
@@ -12,7 +12,7 @@
<param name="fixed_frame" type="string" value="odom" />
</node>
- <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" output="screen" name="snapshotter">
+ <node pkg="pr2_laser_snapshotter" type="pr2_laser_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" />
Modified: pkg/trunk/mapping/annotated_planar_patch_map/test/blank_map_server.launch
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/test/blank_map_server.launch 2009-09-01 07:28:57 UTC (rev 23501)
+++ pkg/trunk/mapping/annotated_planar_patch_map/test/blank_map_server.launch 2009-09-01 08:05:18 UTC (rev 23502)
@@ -3,7 +3,7 @@
<p...
[truncated message content] |
