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hand_control
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new launchfiles to test new commande nodes

master
Louis-Guillaume DUBOIS 11 years ago
parent
02f2823ec7
commit
8504825cb3
4 changed files with 26 additions and 50 deletions
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  1. 19
      launch/all-new-1d.launch
  2. 18
      launch/all-new.launch
  3. 20
      launch/all-param.launch
  4. 19
      launch/all.launch

19
launch/all-new-1d.launch
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@ -1,15 +1,9 @@
<launch> <launch>
<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/> <include file="$(find hand_control)/launch/all-param.launch" />
<param name="/filtre/zmax" value="1.9" type="double"/>
<!-- hand color
<param name="/filtre/hue" value="0.0" type="double"/>
-->
<param name="/filtre/hue" value="210.0" type="double"/>
<param name="/filtre/delta_hue" value="20.0" type="double"/>
<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
<node name="filtre" pkg="hand_control" type="filtre"> <node name="filtre" pkg="hand_control" type="filtre">
<remap from="/filtre/input" to="/camera/xyzrgb/points"/> <remap from="/filtre/input" to="/camera/xyzrgb/points"/>
</node> </node>
@ -18,15 +12,6 @@
<remap from="/estimator/input" to="/filtre/output"/> <remap from="/estimator/input" to="/filtre/output"/>
</node> </node>
<param name="/commande/max_curv" value="0.02" type="double" />
<param name="/commande/plan_vel" value="0.2" type="double" />
<param name="/commande/z_vel" value="1.0" type="double" />
<param name="/commande/min_number" value="2000" type="int" />
<param name="/commande/x_dev_min" value="0.1" type="double" />
<param name="/commande/y_dev_min" value="0.1" type="double" />
<param name="/commande/y_dev_min" value="0.1" type="double" />
<param name="/commande/dz_dev_min" value="0.05" type="double" />
<node name="commander" pkg="hand_control" type="commande-new-1d"> <node name="commander" pkg="hand_control" type="commande-new-1d">
<remap from="/commande/input" to="/estimator/output"/> <remap from="/commande/input" to="/estimator/output"/>
</node> </node>

18
launch/all-new.launch
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@ -1,14 +1,9 @@
<launch> <launch>
<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/> <include file="$(find hand_control)/launch/all-param.launch" />
<param name="/filtre/zmax" value="1.9" type="double"/> <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
<!-- hand color
<param name="/filtre/hue" value="0.0" type="double"/>
-->
<param name="/filtre/hue" value="210.0" type="double"/>
<param name="/filtre/delta_hue" value="20.0" type="double"/>
<node name="filtre" pkg="hand_control" type="filtre"> <node name="filtre" pkg="hand_control" type="filtre">
<remap from="/filtre/input" to="/camera/xyzrgb/points"/> <remap from="/filtre/input" to="/camera/xyzrgb/points"/>
@ -18,15 +13,6 @@
<remap from="/estimator/input" to="/filtre/output"/> <remap from="/estimator/input" to="/filtre/output"/>
</node> </node>
<param name="/commande/max_curv" value="0.02" type="double" />
<param name="/commande/plan_vel" value="0.2" type="double" />
<param name="/commande/z_vel" value="1.0" type="double" />
<param name="/commande/min_number" value="2000" type="int" />
<param name="/commande/x_dev_min" value="0.1" type="double" />
<param name="/commande/y_dev_min" value="0.1" type="double" />
<param name="/commande/y_dev_min" value="0.1" type="double" />
<param name="/commande/dz_dev_min" value="0.05" type="double" />
<node name="commander" pkg="hand_control" type="commande-new"> <node name="commander" pkg="hand_control" type="commande-new">
<remap from="/commande/input" to="/estimator/output"/> <remap from="/commande/input" to="/estimator/output"/>
</node> </node>

20
launch/all-param.launch
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@ -0,0 +1,20 @@
<launch>
<param name="/filtre/zmax" value="1.9" type="double"/>
<!-- hand color
<param name="/filtre/hue" value="0.0" type="double"/>
-->
<param name="/filtre/hue" value="210.0" type="double"/>
<param name="/filtre/delta_hue" value="20.0" type="double"/>
<param name="/commande/max_curv" value="0.02" type="double" />
<param name="/commande/plan_vel" value="0.2" type="double" />
<param name="/commande/z_vel" value="1.0" type="double" />
<param name="/commande/min_number" value="2000" type="int" />
<param name="/commande/x_dev_min" value="0.1" type="double" />
<param name="/commande/y_dev_min" value="0.1" type="double" />
<param name="/commande/y_dev_min" value="0.1" type="double" />
<param name="/commande/dz_dev_min" value="0.05" type="double" />
</launch>

19
launch/all.launch
View File

@ -1,15 +1,9 @@
<launch> <launch>
<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/> <include file="$(find hand_control)/launch/all-param.launch" />
<param name="/filtre/zmax" value="1.9" type="double"/>
<!-- hand color
<param name="/filtre/hue" value="0.0" type="double"/>
-->
<param name="/filtre/hue" value="210.0" type="double"/>
<param name="/filtre/delta_hue" value="20.0" type="double"/>
<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
<node name="filtre" pkg="hand_control" type="filtre"> <node name="filtre" pkg="hand_control" type="filtre">
<remap from="/filtre/input" to="/camera/xyzrgb/points"/> <remap from="/filtre/input" to="/camera/xyzrgb/points"/>
</node> </node>
@ -18,15 +12,6 @@
<remap from="/estimator/input" to="/filtre/output"/> <remap from="/estimator/input" to="/filtre/output"/>
</node> </node>
<param name="/commande/max_curv" value="0.02" type="double" />
<param name="/commande/plan_vel" value="0.2" type="double" />
<param name="/commande/z_vel" value="1.0" type="double" />
<param name="/commande/min_number" value="2000" type="int" />
<param name="/commande/x_dev_min" value="0.1" type="double" />
<param name="/commande/y_dev_min" value="0.1" type="double" />
<param name="/commande/y_dev_min" value="0.1" type="double" />
<param name="/commande/dz_dev_min" value="0.05" type="double" />
<node name="commander" pkg="hand_control" type="commande"> <node name="commander" pkg="hand_control" type="commande">
<remap from="/commande/input" to="/estimator/output"/> <remap from="/commande/input" to="/estimator/output"/>
</node> </node>

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