feat(probablisitic_occupancy_grid_map): add scan_frame option for gri…

…dmap generation (autowarefoundation#3032) * add scan_frame and raytrace center Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add scan frame to laserscan based method Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update readme Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix typo Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update laucher in perception_launch Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix config and launch file Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fixed laserscan based launcher Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
leo-drive · Apr 7, 2023 · 719be0e · 719be0e
1 parent 33e1a44
commit 719be0e
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/...tion/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/...tion/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
@@ -31,6 +31,12 @@ def launch_setup(context, *args, **kwargs):
     param_file = LaunchConfiguration("param_file").perform(context)
     with open(param_file, "r") as f:
         laserscan_based_occupancy_grid_map_node_params = yaml.safe_load(f)["/**"]["ros__parameters"]
+    laserscan_based_occupancy_grid_map_node_params["input_obstacle_pointcloud"] = bool(
+        LaunchConfiguration("input_obstacle_pointcloud").perform(context)
+    )
+    laserscan_based_occupancy_grid_map_node_params["input_obstacle_and_raw_pointcloud"] = bool(
+        LaunchConfiguration("input_obstacle_and_raw_pointcloud").perform(context)
+    )
 
     composable_nodes = [
         ComposableNode(