Merge pull request #35 from k-okada/hydro-devel

use `arg` for all parameters for ground filtering
PR2 · Apr 26, 2018 · e09fb5b · e09fb5b
2 parents 10ea73a + 61cafb1
commit e09fb5b
Showing 1 changed file with 12 additions and 8 deletions.
diff --git a/pr2_navigation_perception/ground_plane.xml b/pr2_navigation_perception/ground_plane.xml
@@ -1,10 +1,14 @@
 <launch>
-<node pkg="semantic_point_annotator" type="sac_inc_ground_removal_node" name="sac_ground_removal" machine="c2" >
-  <remap from="tilt_laser_cloud_filtered" to="tilt_scan_filtered" />
-  <remap from="cloud_ground_filtered" to="ground_object_cloud" />
-  <param name="z_threshold" value="0.15" />
-  <param name="sac_min_points_per_model" value="40" />
-  <param name="sac_distance_threshold" value="0.05" />
-  <param name="planar_refine" value="1" />
-</node>
+  <arg name="z_threshold" value="0.15" />
+  <arg name="sac_min_points_per_model" value="40" />
+  <arg name="sac_distance_threshold" value="0.05" />
+  <arg name="planar_refine" value="1" />
+  <node pkg="semantic_point_annotator" type="sac_inc_ground_removal_node" name="sac_ground_removal" machine="c2" >
+    <remap from="tilt_laser_cloud_filtered" to="tilt_scan_filtered" />
+    <remap from="cloud_ground_filtered" to="ground_object_cloud" />
+    <param name="z_threshold" value="$(arg z_threshold)" />
+    <param name="sac_min_points_per_model" value="$(arg sac_min_points_per_model)" />
+    <param name="sac_distance_threshold" value="$(arg sac_distance_threshold)" />
+    <param name="planar_refine" value="$(arg planar_refine)" />
+  </node>
 </launch>