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F octomap #613

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a1d22b6
testing
Feb 5, 2021
d9dbd13
update
Mar 5, 2021
b313bcc
fix defaults
Mar 9, 2021
73c0e9f
Merge branch 'melodic-devel' into F_octomap
carebare47 Mar 10, 2021
0cb4111
play with padding
Mar 11, 2021
1c94893
Merge branch 'F_octomap' of github.com:shadow-robot/sr_interface into…
Mar 11, 2021
931b7a0
testing
Mar 18, 2021
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2 changes: 1 addition & 1 deletion sr_multi_moveit/sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<launch>
<!-- 'octomap_data_type' options are 'pointcloud' or 'depthmap' -->
<arg name="octomap_data_type" default="none"/>
<arg name="octomap_data_type" default="depthmap"/>

<!-- This file makes it easy to include the settings for sensor managers -->

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7 changes: 4 additions & 3 deletions sr_multi_moveit/sr_multi_moveit_config/config/sensors_rgbd_depth.yaml
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Original file line number Diff line number Diff line change
@@ -1,12 +1,13 @@
sensors:
- sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
image_topic: /camera/depth_registered/image_raw
# image_topic: /camera/depth_registered/image_raw
image_topic: /camera/depth/image_rect_raw
queue_size: 5
near_clipping_plane_distance: 0.3
far_clipping_plane_distance: 5.0
shadow_threshold: 0.2
padding_scale: 1.0
padding_offset: 0.00
padding_scale: 3.0
padding_offset: 0.12
max_update_rate: 1.0
filtered_cloud_topic: filtered_cloud

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2 changes: 1 addition & 1 deletion sr_multi_moveit/sr_multi_moveit_config/launch/sensor_manager.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<launch>
<!-- 'octomap_data_type' options are 'pointcloud' or 'depthmap' -->
<arg name="octomap_data_type" default="pointcloud"/>
<arg name="octomap_data_type" default="depthmap"/>

<!-- This file makes it easy to include the settings for sensor managers -->

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4 changes: 2 additions & 2 deletions sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml
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Expand Up @@ -14,11 +14,11 @@ ra_sr_ur_robot_hw:

# for sending robot programs
# aurora (https://github.com/shadow-robot/aurora) uses sed to replace this IP with the user-defined IP
robot_ip: 10.8.1.1
robot_ip: 192.168.1.1

# for the server that moves the robot
# aurora (https://github.com/shadow-robot/aurora) uses sed to replace this IP with the user-defined IP
control_pc_ip_address: 10.8.1.100
control_pc_ip_address: 192.168.1.100

input_recipe_file: /home/user/projects/shadow_robot/base/src/Universal_Robots_ROS_Driver/ur_robot_driver/resources/rtde_input_recipe.txt

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4 changes: 2 additions & 2 deletions sr_robot_launch/config/right_ur_arm_robot_hw.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,11 +14,11 @@ ra_sr_ur_robot_hw:

# for sending robot programs
# aurora (https://github.com/shadow-robot/aurora) uses sed to replace this IP with the user-defined IP
robot_ip: 10.8.1.1
robot_ip: 192.168.1.1

# for the server that moves the robot
# aurora (https://github.com/shadow-robot/aurora) uses sed to replace this IP with the user-defined IP
control_pc_ip_address: 10.8.1.100
control_pc_ip_address: 192.168.1.100

input_recipe_file: /home/user/projects/shadow_robot/base/src/Universal_Robots_ROS_Driver/ur_robot_driver/resources/rtde_input_recipe.txt

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