[TEMP] hubero_ros - deleted RGBD obstacle layer plugins to prevent co…

…nsole flood (currently no working conversion from RGBD data to LaserScan) (#21, #37)
rayvburn · Feb 20, 2022 · 20139e4 · 20139e4
1 parent 00491b0
commit 20139e4
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/hubero_ros/config/planning/common/global_costmap_plugins.yaml b/hubero_ros/config/planning/common/global_costmap_plugins.yaml
@@ -5,7 +5,7 @@ global_costmap:
       type: 'costmap_2d::StaticLayer'
     - name: obstacle_laser_layer
       type: 'costmap_2d::ObstacleLayer'
-    - name: obstacle_rgbd_layer
-      type: 'costmap_2d::ObstacleLayer'
+    # - name: obstacle_rgbd_layer
+    #   type: 'costmap_2d::ObstacleLayer'
     - name: inflation_layer
       type: 'costmap_2d::InflationLayer'
diff --git a/hubero_ros/config/planning/common/local_costmap_plugins.yaml b/hubero_ros/config/planning/common/local_costmap_plugins.yaml
@@ -3,7 +3,7 @@ local_costmap:
   plugins:
     - name: obstacle_laser_layer
       type: 'costmap_2d::ObstacleLayer'
-    - name: obstacle_rgbd_layer
-      type: 'costmap_2d::ObstacleLayer'
+    # - name: obstacle_rgbd_layer
+    #   type: 'costmap_2d::ObstacleLayer'
     - name: inflation_layer
       type: 'costmap_2d::InflationLayer'
diff --git a/hubero_ros/config/planning/common/recovery_behaviors.yaml b/hubero_ros/config/planning/common/recovery_behaviors.yaml
@@ -10,12 +10,12 @@ recovery_behaviors:
 
 costmap_reset_far:
   reset_distance: 3.0
-  layer_names: ["obstacle_laser_layer", "obstacle_rgbd_layer"]
+  layer_names: "obstacle_laser_layer" #, "obstacle_rgbd_layer"]
 
 costmap_reset_close:
   reset_distance: 1.5
-  layer_names: ["obstacle_laser_layer", "obstacle_rgbd_layer"]
+  layer_names: "obstacle_laser_layer" #, "obstacle_rgbd_layer"]
 
 dummy:
   reset_distance: 5.5
-  layer_names: ["obstacle_laser_layer", "obstacle_rgbd_layer"]
+  layer_names: "obstacle_laser_layer" #, "obstacle_rgbd_layer"]