From 20139e411705d636a0c3fef623e3570a27400ab7 Mon Sep 17 00:00:00 2001 From: rayvburn Date: Sun, 23 Jan 2022 00:15:44 +0100 Subject: [PATCH] [TEMP] hubero_ros - deleted RGBD obstacle layer plugins to prevent console flood (currently no working conversion from RGBD data to LaserScan) (#21, #37) --- .../config/planning/common/global_costmap_plugins.yaml | 4 ++-- .../config/planning/common/local_costmap_plugins.yaml | 4 ++-- hubero_ros/config/planning/common/recovery_behaviors.yaml | 6 +++--- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/hubero_ros/config/planning/common/global_costmap_plugins.yaml b/hubero_ros/config/planning/common/global_costmap_plugins.yaml index 5569058e..3fe68e90 100644 --- 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 index 1d9f813d..879e8bfb 100644 --- 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 index 37abb126..76c054a6 100644 --- 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"]