Slamtec · AllJordanSS · Jul 21, 2021
diff --git a/config/scan_params copy.yaml b/config/scan_params copy.yaml
@@ -0,0 +1,9 @@
+rplidar_params:
+  fov: 240
+  rotation: 0
+  range: {min: 0.05, max: 30.0}
+  # reduction_method: '1-Pooling'
+  # output_samples: 1195
+  reduction_method: 'None' 
+  output_samples: 'None' 
+  intensities: 47
diff --git a/config/scan_params.yaml b/config/scan_params.yaml
@@ -0,0 +1,34 @@
+rplidar_params:
+  fov: 240
+  rotation: 0
+  range: {min: 0.14, max: 30.0}
+  # reduction_method: '1-Pooling'
+  # output_samples: 1195
+  reduction_method: 'none'
+  output_samples: 'None' 
+  intensities: 47
+
+  #reduction_method only admit "[max/min/mean/(int)]-pooling", "resample", or "None"
+ #----------------------------------------------------------------------------------------------------#
+  # reducion method 1
+  # reduction_method: 'resample'
+  # resample_interval: 2  # Mantém cada segundo ponto de dados
+  # interpolation_method: "linear"  # Usa interpolação linear / suavização moderada / pode n capturar variações complexas
+  # interpolation_method: "spline"  # Usa interpolação spline / suavização avançada / captura variações precisa e suaves / mais custoso computacionalmente.
+  # interpolation_method: "nearest"  # Usa interpolação por vizinho mais próximo / Mantém os valores originais / resulta em dados menos suaves, aparencia em blocos
+
+  # Comentários:
+  # - Intervalo pequeno (2) mantém mais detalhes dos dados originais.
+  # - Reduz levemente a quantidade de dados, melhorando a eficiência sem perder muita precisão.
+  # - Adequado para pré-processamento e visualização inicial, mantendo uma representação detalhada.
+ #----------------------------------------------------------------------------------------------------#
+  # reduction method 2
+  # reduction_method: 'mean(2)-pooling'
+  # pooling_region_size: 2  # Agrupa pontos em regiões de 2x2
+  # pooling_method: "average"  # Usa averaje pooling
+
+
+  # Comentários:
+  # - Seleciona o valor médio dentro de cada bloco 2x2.
+  # - Suaviza os dados, útil para obter uma representação geral suave.
+  # - Esse metodo substitui 2 blocos vizinho em apena 1 bloco que representa os dois, diminuindo a quantidade de informação
diff --git a/launch/rplidar_a1.launch b/launch/rplidar_a1.launch
diff --git a/launch/rplidar_a2m12.launch b/launch/rplidar_a2m12.launch
diff --git a/launch/rplidar_a2m7.launch b/launch/rplidar_a2m7.launch
diff --git a/launch/rplidar_a3.launch b/launch/rplidar_a3.launch
diff --git a/launch/rplidar_c1.launch b/launch/rplidar_c1.launch
diff --git a/launch/rplidar_s1.launch b/launch/rplidar_s1.launch
diff --git a/launch/rplidar_s1_tcp.launch b/launch/rplidar_s1_tcp.launch
diff --git a/launch/rplidar_s2.launch → launch/rplidar_s2-origin.launch b/launch/rplidar_s2.launch → launch/rplidar_s2-origin.launch
@@ -2,9 +2,9 @@
   <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
   <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>  
   <param name="serial_baudrate"     type="int"    value="1000000"/>
-  <param name="frame_id"            type="string" value="laser"/>
+  <param name="frame_id"            type="string" value="laser_link"/>
   <param name="inverted"            type="bool"   value="false"/>
   <param name="angle_compensate"    type="bool"   value="true"/>
-  <param name="scan_frequency"      type="double" value="10.0"/>
+  <param name="scan_frequency"      type="double" value="8.0"/>
   </node>
 </launch>
diff --git a/launch/rplidar_s2_mapping.launch b/launch/rplidar_s2_mapping.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
+  <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>  
+  <param name="serial_baudrate"     type="int"    value="1000000"/>
+  <param name="frame_id"            type="string" value="laser_link"/>
+  <param name="inverted"            type="bool"   value="false"/>
+  <param name="angle_compensate"    type="bool"   value="true"/>
+  <param name="scan_mode"           type="string" value="DenseBoost"/>
+  <param name="range_min" type="double" value="0.05"/> <!-- Distância mínima em metros, sem máscarade FOV o ponto do gabinete mai distante está a 13cm -->
+  <param name="range_max" type="double" value="10.0"/>
+  <param name="initial_reset"      type="bool" value="true"/>
+  </node>
+
+</launch>
diff --git a/launch/rplidar_s2_navigation.launch b/launch/rplidar_s2_navigation.launch
@@ -0,0 +1,21 @@
+<launch>
+
+  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
+  <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>  
+  <param name="serial_baudrate"     type="int"    value="1000000"/>
+  <param name="frame_id"            type="string" value="laser_link"/>
+  <param name="inverted"            type="bool"   value="false"/>
+  <param name="angle_compensate"    type="bool"   value="true"/>
+  <param name="scan_mode"           type="string" value="Standard"/>
+  <param name="range_min" type="double" value="0.05"/> <!-- Distância mínima em metros -->
+  <param name="range_max" type="double" value="30.0"/>   
+  <param name="scan_frequency"      type="double" value="10.0"/>
+  </node>
+
+  <rosparam file="$(find rplidar_ros)/config/scan_params.yaml"/>
+
+  <node pkg="rplidar_ros" name="rplidar_ros" type="rplidar_scan.py" output="screen" clear_params="true"/>
+
+  <node pkg="rplidar_ros" name="scan_filter_node" type="scan_filter_regressor_V1.0.py"/>
+
+</launch>
diff --git a/launch/rplidar_s2e.launch b/launch/rplidar_s2e.launch
diff --git a/launch/rplidar_s3.launch b/launch/rplidar_s3.launch
diff --git a/launch/rplidar_t1.launch b/launch/rplidar_t1.launch
diff --git a/launch/test_rplidar.launch b/launch/test_rplidar.launch
diff --git a/launch/test_rplidar_a3.launch b/launch/test_rplidar_a3.launch
diff --git a/launch/view_rplidar_a1.launch b/launch/view_rplidar_a1.launch
diff --git a/launch/view_rplidar_a2m12.launch b/launch/view_rplidar_a2m12.launch
diff --git a/launch/view_rplidar_a2m7.launch b/launch/view_rplidar_a2m7.launch
diff --git a/launch/view_rplidar_a2m8.launch b/launch/view_rplidar_a2m8.launch
diff --git a/launch/view_rplidar_a3.launch b/launch/view_rplidar_a3.launch
diff --git a/launch/view_rplidar_c1.launch b/launch/view_rplidar_c1.launch
diff --git a/launch/view_rplidar_s1.launch b/launch/view_rplidar_s1.launch
diff --git a/launch/view_rplidar_s1_tcp.launch b/launch/view_rplidar_s1_tcp.launch
diff --git a/launch/view_rplidar_s2.launch b/launch/view_rplidar_s2.launch
diff --git a/launch/view_rplidar_s2e.launch b/launch/view_rplidar_s2e.launch
diff --git a/launch/view_rplidar_s3.launch b/launch/view_rplidar_s3.launch
diff --git a/launch/view_rplidar_t1.launch b/launch/view_rplidar_t1.launch
diff --git a/scripts/__pycache__/pooling.cpython-38.pyc b/scripts/__pycache__/pooling.cpython-38.pyc
diff --git a/scripts/__pycache__/resample.cpython-38.pyc b/scripts/__pycache__/resample.cpython-38.pyc
diff --git a/scripts/create_udev_rules.sh b/scripts/create_udev_rules.sh
diff --git a/scripts/delete_udev_rules.sh b/scripts/delete_udev_rules.sh