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ros_scene.launch
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ros_scene.launch
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<launch>
<!-- Scene topic arguments-->
<arg name="background_pcl2_topic" default="/SPServer/table_corner" doc="PointCloud2 topic which provides the background point cloud of the scene" />
<arg name="scene_pcl2_topic" default="/SPServer/points_out" doc="PointCloud2 topic which provides the object segmented point cloud of the scene" />
<arg name="detected_object_topic" default="/SPServer/detected_object_list" doc="DetectedObjectList topic which provides the list of detected objects in the scene" />
<arg name="object_hypotheses_topic" default="/SPServer/object_hypothesis" doc="AllModelHypothesis topic which provides the list of available object pose hypotheses in the scene" />
<arg name="object_folder_location" default="$(find sequential_scene_parsing)/mesh" doc="The folder location that contains the surface point cloud and the simplified object meshes" />
<arg name="background_normal_as_gravity" default="true" doc="The background points asssumed to be a single plane where all objects will be placed, and the normal of this plane represents the gravity vector direction." />
<arg name="background_mode" default="0" doc="The background points can be simulated as a plane (0), convex hull(1), or a mesh(2). When the background is just a flat plane, selecting simpler background_mode will results in better simulation speed and accuracy." />
<arg name="TF_z_inv_gravity_dir" default="/ar_marker_3" doc="Set the gravity direction to be the opposite of direction of a z axis of a certain frame." />
<arg name="tf_publisher_initial" default="scene" doc="Frame namespace used for the estimated object poses. For example, if the old frame name is object_1 and the tf_publisher_initial is scene, the new frame name will be scene/object_1"/>
<arg name="debug" default="false" doc="Enables more console prints for debugging purpose"/>
<arg name="load_table" default="true" doc="Use existing table point cloud" />
<arg name="table_location" default="$(find sequential_scene_parsing)/mesh/table.pcd"/>
<arg name="render_scene" default="true" doc="Enables the rendered scene visualization" />
<arg name="objransac_model_directory" default="$(find sequential_scene_parsing)/mesh" doc="The folder location that contains the surface point cloud"/>
<arg name="objransac_model_names" default="block,cube" doc="The name of objects that needs to be loaded."/>
<arg name="data_forces_magnitude" default="0.25" doc="The maximum magnitude of the data forces. If set to 0.5, the maximum data forces magnitude is half of the gravity force applied in the simulation" />
<arg name="data_forces_max_distance" default="0.015" doc="The maximum point pair distance between input scene points and the simulated object surface. Point pairs with a distance higher than the maximum distance will be ignored" />
<arg name="data_forces_model" default="2" doc="The model used for computing the point pair correspondense. 0: closest point to the input scene points, 1: ICP to the input scene points performed every frame, 2: point pair distance to the initial estimated pose"/>
<arg name="best_hypothesis_only" default="false" doc="Only perform scene parsing using the best hypothesis."/>
<arg name="small_obj_g_comp" default="3" doc="Increase the simulation time by x times when objects used in the world is small compared to the gravity. Modify this value when the simulated objects tend to penetrate other objects or the background" />
<arg name="sim_freq_multiplier" default="1." doc="Increase the simulation frequency. Higher number will increase accuracy in exchange for slower performance"/>
<!-- physics solver settings: check http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo -->
<arg name="p_solver_iter" default="20"/>
<arg name="p_randomize_order" default="true"/>
<arg name="p_split_impulse" default="false"/>
<arg name="p_penetration_threshold" default="-0.02"/>
<node pkg="sequential_scene_parsing" type="sequential_scene_ros" name="sequential_scene_parsing"
output="screen"
>
<!-- sequential_scene_ros common Node arg pass -->
<param name="small_obj_g_comp" type="int" value="$(arg small_obj_g_comp)"/>
<param name="sim_freq_multiplier" type="double" value="$(arg sim_freq_multiplier)"/>
<param name="background_pcl2_topic" type="str" value="$(arg background_pcl2_topic)" />
<param name="scene_pcl2_topic" type="str" value="$(arg scene_pcl2_topic)" />
<param name="object_folder_location" type="str" value="$(arg object_folder_location)"/>
<param name="detected_object_topic" type="str" value="$(arg detected_object_topic)"/>
<param name="TF_z_inv_gravity_dir" type="str" value="$(arg TF_z_inv_gravity_dir)"/>
<param name="tf_publisher_initial" type="str" value="$(arg tf_publisher_initial)"/>
<param name="object_hypotheses_topic" type="str" value="$(arg object_hypotheses_topic)"/>
<param name="debug_mode" type="bool" value="$(arg debug)"/>
<param name="load_table" type="bool" value="$(arg load_table)"/>
<param name="background_mode" type="int" value="$(arg background_mode)"/>
<param name="table_location" type="str" value="$(arg table_location)"/>
<param name="bg_normal_as_gravity" type="bool" value="$(arg background_normal_as_gravity)"/>
<param name="p_solver_iter" type="int" value="$(arg p_solver_iter)"/>
<param name="p_randomize_order" type="bool" value="$(arg p_randomize_order)"/>
<param name="p_split_impulse" type="bool" value="$(arg p_split_impulse)"/>
<param name="p_penetration_threshold" type="double" value="$(arg p_penetration_threshold)"/>
<param name="render_scene" type="bool" value="$(arg render_scene)"/>
<param name="best_hypothesis_only" type="bool" value="$(arg best_hypothesis_only)"/>
<param name="data_forces_magnitude" type="double" value="$(arg data_forces_magnitude)"/>
<param name="data_forces_max_distance" type="double" value="$(arg data_forces_max_distance)"/>
<param name="data_forces_model" type="int" value="$(arg data_forces_model)"/>
<param name="objransac_model_directory" type="str" value="$(arg objransac_model_directory)"/>
<param name="objransac_model_names" type="str" value="$(arg objransac_model_names)"/>
<!-- objectDatabase -->
<rosparam command="load" file="$(find sequential_scene_parsing)/mesh/object_property_database.yaml" />
</node>
<node pkg="tf" type="static_transform_publisher" name="camera_tf_pub" args="0 0 0 0 0 0 /world /camera_link 300" />
</launch>