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footprint: [ [-0.1,-0.125], [0.5,-0.125], [0.5,0.125], [-0.1,0.125] ] | ||
transform_tolerance: 0.2 | ||
footprint: [ [-0.25,-0.135], [0.25,-0.135], [0.25,0.135], [-0.25,0.135] ] | ||
# car length = 0.50 car width = 0.27 | ||
# wheel base = 0.33 track width = 0.23 | ||
# front offset = 0.09 rear offset = 0.08 | ||
transform_tolerance: 1 | ||
obstacle_layer: | ||
enabled: true | ||
obstacle_range: 3.0 | ||
raytrace_range: 3.5 | ||
inflation_radius: 0.2 | ||
track_unknown_space: false | ||
combination_method: 1 | ||
observation_sources: lidar | ||
lidar: {sensor_frame: lidar, data_type: LaserScan, topic: scan, marking: true, clearing: true} | ||
lidar: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true} | ||
inflation_layer: | ||
enabled: true | ||
cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10) | ||
inflation_radius: 0.025 # max. distance from an obstacle at which costs are incurred for planning paths | ||
inflation_radius: 0.15 # m (max. distance from an obstacle at which costs are incurred for planning paths) | ||
static_layer: | ||
enabled: true | ||
map_topic: "/map" |
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25 changes: 25 additions & 0 deletions
25
ROS Workspace/f1tenth/racecar/racecar/launch/camera_joy.launch
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<!-- -*- mode: XML -*- --> | ||
<launch> | ||
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<!-- F1TENTH Teleop Joystick Node --> | ||
<arg name="racecar_version" default="racecar-v2" /> | ||
<arg name="run_camera" default="false"/> | ||
<include file="$(find racecar)/launch/includes/$(arg racecar_version)-teleop.launch.xml"> | ||
<arg name="racecar_version" value="$(arg racecar_version)" /> | ||
<arg name="run_camera" value="$(arg run_camera)" /> | ||
</include> | ||
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<!-- F1TENTH Camera Node --> | ||
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" > | ||
<param name="video_device" value="/dev/video0" /> | ||
<param name="image_width" value="640" /> | ||
<param name="image_height" value="480" /> | ||
<param name="pixel_format" value="yuyv" /> | ||
<param name="camera_frame_id" value="usb_cam" /> | ||
<param name="io_method" value="mmap"/> | ||
</node> | ||
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<!-- RViz Node --> | ||
<node name="rviz" pkg="rviz" type="rviz" respawn="false" output="screen" args="-d $(find racecar)/rviz/usb_webcam.rviz"/> | ||
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</launch> |
20 changes: 20 additions & 0 deletions
20
ROS Workspace/f1tenth/racecar/racecar/launch/camera_key.launch
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<!-- -*- mode: XML -*- --> | ||
<launch> | ||
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<!-- AutoDRIVE-F1TENTH Keyboard Teleop --> | ||
<include file="$(find racecar)/launch/teleop_autodrive_key.launch"/> | ||
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<!-- F1TENTH Camera Node --> | ||
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" > | ||
<param name="video_device" value="/dev/video0" /> | ||
<param name="image_width" value="640" /> | ||
<param name="image_height" value="480" /> | ||
<param name="pixel_format" value="yuyv" /> | ||
<param name="camera_frame_id" value="usb_cam" /> | ||
<param name="io_method" value="mmap"/> | ||
</node> | ||
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<!-- RViz Node --> | ||
<node name="rviz" pkg="rviz" type="rviz" respawn="false" output="screen" args="-d $(find racecar)/rviz/usb_webcam.rviz"/> | ||
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</launch> |
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