Some minor cleanup

leggedrobotics · Dec 6, 2023 · 10ec9da · 10ec9da
1 parent 9742a25
commit 10ec9da
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Showing 8 changed files with 7 additions and 230 deletions.
diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml
@@ -65,7 +65,7 @@ initialize_method: 'linear'                                         # Choose one
 initialize_frame_id: ['base_footprint']   # One tf (like ['footprint'] ) initializes a square around it.
 initialize_tf_offset: [0.0, 0.0, 0.0, 0.0]                          # z direction. Should be same number as initialize_frame_id.
 dilation_size_initialize: 2                                         # dilation size after the init.
-initialize_tf_grid_size: 2                                        # This is not used if number of tf is more than 3.
+initialize_tf_grid_size: 0.5                                        # This is not used if number of tf is more than 3.
 use_initializer_at_start: true                                      # Use initializer when the node starts.
 
 #### Default Plugins ########

diff --git a/elevation_mapping_cupy/config/setups/features/features_parameters.yaml b/elevation_mapping_cupy/config/setups/features/features_parameters.yaml
diff --git a/elevation_mapping_cupy/config/setups/features/features_plugin_config.yaml b/elevation_mapping_cupy/config/setups/features/features_plugin_config.yaml
diff --git a/elevation_mapping_cupy/config/setups/features/features_semantics.yaml b/elevation_mapping_cupy/config/setups/features/features_semantics.yaml
diff --git a/elevation_mapping_cupy/config/setups/features/features_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/features/features_sensor_parameter.yaml
diff --git a/elevation_mapping_cupy/config/setups/features/image_semantics.yaml b/elevation_mapping_cupy/config/setups/features/image_semantics.yaml
diff --git a/elevation_mapping_cupy/launch/turtlesim_init.launch b/elevation_mapping_cupy/launch/turtlesim_init.launch
@@ -2,15 +2,15 @@
     <arg name="use_sim_time" default="true"/>
     <arg name="rviz_config" default="$(find elevation_mapping_cupy)/rviz/turtle_semantic_example.rviz"/>
     <arg name="model" default="waffle" doc="model type [burger, waffle, waffle_pi]"/>
-    <arg name="x_pos" default="-2.0"/>
-    <arg name="y_pos" default="1.5"/>
+    <arg name="x_pos" default="0.0"/>
+    <arg name="y_pos" default="2.0"/>
     <arg name="z_pos" default="0.0"/>
 
     <param name="/use_sim_time" type="bool" value="$(arg use_sim_time)"/>
 
     <include file="$(find gazebo_ros)/launch/empty_world.launch">
-        <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/>
-        <!-- <arg name="world_name" value="$(find elevation_mapping_cupy)/config/worlds/house.world"/> -->
+        <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_world.world"/>
+        <!-- <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/> -->
         <arg name="paused" value="false"/>
         <arg name="use_sim_time" value="true"/>
         <arg name="gui" value="false"/>

diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py
@@ -39,8 +39,8 @@ class ElevationMapWrapper:
     def __init__(self):
         rospack = rospkg.RosPack()
         self.root = rospack.get_path("elevation_mapping_cupy")
-        weight_file = os.path.join(self.root, "config/weights.dat")
-        plugin_config_file = os.path.join(self.root, "config/plugin_config.yaml")
+        weight_file = os.path.join(self.root, "config/core/weights.dat")
+        plugin_config_file = os.path.join(self.root, "config/core/plugin_config.yaml")
         self.param = Parameter(use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file)
 
         self.node_name = "elevation_mapping"