40 lines
1016 B
XML
40 lines
1016 B
XML
<launch>
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<arg name="gui" default="true" />
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<!-- use voxel_grid for small cpu load in filtering -->
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<include file="$(find pcl_ros)/samples/sample_voxel_grid.launch">
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<arg name="gui" value="false" />
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<arg name="leaf_size" value="0.02" />
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</include>
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<node name="statistical_outlier_removal"
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pkg="nodelet" type="nodelet"
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args="standalone pcl/StatisticalOutlierRemoval">
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<remap from="~input" to="voxel_grid/output" />
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<rosparam>
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mean_k: 10
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stddev: 1.0
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</rosparam>
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</node>
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<test test-name="test_statistical_outlier_removal"
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name="test_statistical_outlier_removal"
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pkg="rostest" type="hztest">
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<rosparam>
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topic: /statistical_outlier_removal/output
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hz: 20
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hzerror: 15
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test_duration: 5.0
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</rosparam>
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</test>
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<group if="$(arg gui)">
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<node name="rviz"
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pkg="rviz" type="rviz"
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args="-d $(find pcl_ros)/samples/config/statistical_outlier_removal.rviz">
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</node>
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</group>
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</launch>
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