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Refactor to allow debug messages from node and nodelet

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This commit is contained in:
Paul Bovbel
2015-01-15 12:03:52 -05:00
committed by Paul Bovbel
parent d604c43332
commit eafe961c0c
8 changed files with 209 additions and 253 deletions
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pointcloud_to_laserscan/launch/sample_node.launch
+19 -4
View File
@@ -12,12 +12,27 @@
<!-- run pointcloud_to_laserscan node -->
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
<param name="use_inf" value="true"/>
<param name="use_concurrency" value="true"/>
<param name="target_frame" value="base_link"/>
<remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
<remap from="scan" to="$(arg camera)/scan"/>
<rosparam>
target_frame: base_link
min_height: 0.0
max_height: 1.0
angle_min: -1.5708 # -M_PI/2
angle_max: 1.5708 # M_PI/2
angle_increment: 0.087 # M_PI/360.0
scan_time: 0.3333
range_min: 0.45
range_max: 4.0
use_inf: true
# Concurrency level, affects number of pointclouds queued for processing and number of threads used
# 0 : Detect number of cores
# 1 : Single threaded
# 2->inf : Parallelism level
concurrency_level: 0
</rosparam>
</node>
pointcloud_to_laserscan/launch/sample_nodelet.launch
+19 -4
View File
@@ -12,12 +12,27 @@
<!-- push pointcloud_to_laserscan nodelet into sensor's nodelet manager-->
<node pkg="nodelet" type="nodelet" name="pointcloud_to_laserscan" args="load pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet $(arg camera)_nodelet_manager">
<param name="use_inf" value="true"/>
<param name="use_concurrency" value="true"/>
<param name="target_frame" value="base_link"/>
<remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
<remap from="scan" to="$(arg camera)/scan"/>
<rosparam>
target_frame: base_link
min_height: 0.0
max_height: 1.0
angle_min: -1.5708 # -M_PI/2
angle_max: 1.5708 # M_PI/2
angle_increment: 0.087 # M_PI/360.0
scan_time: 0.3333
range_min: 0.45
range_max: 4.0
use_inf: true
# Concurrency level, affects number of pointclouds queued for processing, thread number governed by nodelet manager
# 0 : Detect number of cores
# 1 : Single threaded
# 2->inf : Parallelism level
concurrency_level: 0
</rosparam>
</node>