From 095ae98356237dc893ad65cbb0fe23c45a09356c Mon Sep 17 00:00:00 2001 From: ipa-fxm Date: Wed, 26 Apr 2017 13:04:17 +0200 Subject: [PATCH] cleanup files --- .../collision_velocity_filter_params.yaml | 2 +- .../raw3-3/config/docking_laser_filter.yaml | 12 ---------- .../raw3-3/config/docking_linear_nav.yaml | 23 ------------------- .../raw3-3/config/docking_stations.yaml | 10 -------- 4 files changed, 1 insertion(+), 46 deletions(-) delete mode 100644 cob_hardware_config/robots/raw3-3/config/docking_laser_filter.yaml delete mode 100644 cob_hardware_config/robots/raw3-3/config/docking_linear_nav.yaml delete mode 100644 cob_hardware_config/robots/raw3-3/config/docking_stations.yaml diff --git a/cob_hardware_config/robots/raw3-3/config/collision_velocity_filter_params.yaml b/cob_hardware_config/robots/raw3-3/config/collision_velocity_filter_params.yaml index 635d48e5c..de68c187a 100644 --- a/cob_hardware_config/robots/raw3-3/config/collision_velocity_filter_params.yaml +++ b/cob_hardware_config/robots/raw3-3/config/collision_velocity_filter_params.yaml @@ -1,5 +1,5 @@ #where to look for costmap parameters -costmap_parameter_source: "/local_costmap_node/costmap" #default "/local_costmap_node/costmap" +costmap_parameter_source: "/local_costmap_node/costmap" #frequency at which the get_footprint service should be called footprint_update_frequency: 0.1 diff --git a/cob_hardware_config/robots/raw3-3/config/docking_laser_filter.yaml b/cob_hardware_config/robots/raw3-3/config/docking_laser_filter.yaml deleted file mode 100644 index 949c1e515..000000000 --- a/cob_hardware_config/robots/raw3-3/config/docking_laser_filter.yaml +++ /dev/null @@ -1,12 +0,0 @@ -scan_filter_chain: -- name: range - type: laser_filters/LaserScanRangeFilter - params: - lower_threshold: 0.01 - upper_threshold: 3 -- name: intensity - type: laser_filters/LaserScanIntensityFilter - params: - lower_threshold: 250 - upper_threshold: 9000 - disp_histogram: 0 diff --git a/cob_hardware_config/robots/raw3-3/config/docking_linear_nav.yaml b/cob_hardware_config/robots/raw3-3/config/docking_linear_nav.yaml deleted file mode 100644 index 64980ef6a..000000000 --- a/cob_hardware_config/robots/raw3-3/config/docking_linear_nav.yaml +++ /dev/null @@ -1,23 +0,0 @@ -#Parameters designing the potential field controller -#Translational part -kv: 2.50 #damping 2.50 -kp: 3.00 #stiffness 3.0 -virt_mass: 0.50 #0.50 -vmax: 0.1 #0.3 -goal_threshold: 0.01 #0.03 -speed_threshold: 0.01 #0.08 - -#Rotational part -kv_rot: 2.0 #damping 2.0 -kp_rot: 2.0 #stiffness 2.0 -virt_mass_rot: 0.50 #0.5 -vtheta_max: 0.3 # 0.3 -goal_threshold_rot: 0.006 #0.08 -speed_threshold_rot: 0.01 #0.08 - -#tf parameters -global_frame: odom_combined #/map -robot_frame: base_link #/base_link - -slow_down_distance: 0.03 #0.5[m] distance from robot_center to goal at which robot starts slowing down -goal_abortion_time: 5.0 #5.0[s] time until robot aborts goal due to obstacle diff --git a/cob_hardware_config/robots/raw3-3/config/docking_stations.yaml b/cob_hardware_config/robots/raw3-3/config/docking_stations.yaml deleted file mode 100644 index 7dd2760c8..000000000 --- a/cob_hardware_config/robots/raw3-3/config/docking_stations.yaml +++ /dev/null @@ -1,10 +0,0 @@ -stations: -- frame_id: station1 - approach_poses: [[-1.02, 0.56, 0.0], [-0.86, 0.03, 0.0], [-0.762, 0.03, 0.0]] # in frame_id coords -- frame_id: station2 - approach_poses: [[-0.8, 0.02, 0.0], [-0.8, 0.02, 0.0], [-0.6, 0.02, 0.0]] # in frame_id coords - -distance_tolerance: 0.05 -intensity_lower_threshold: 200 -intensity_upper_threshold: 10000 -update_rate: 0.25