Commit 66085f2a authored by Niklas Yann Wettengel's avatar Niklas Yann Wettengel
Browse files

parameter update

parent 7c7aa217
......@@ -131,7 +131,7 @@ void depth_occupancy_map::updateDepthData(const sensor_msgs::PointCloud2::ConstP
pcl_ros::transformPointCloud(cloud_in, cloud, transform);
float min_distance = 0.4;
float min_distance = 0.5;
ros::param::getCached("/depth_mapping/min_distance", min_distance);
const float max_range_z = 1.6;
const float min_range_z = 0.3;
......@@ -222,7 +222,7 @@ void depth_occupancy_map::updateDepthData(const sensor_msgs::PointCloud2::ConstP
min_obstacle_distance = std::sqrt( min_obstacle_distance );
m_distance_offset = 0.15;
m_distance_offset = 0.2;
ros::param::getCached("/depth_mapping/distance_offset", m_distance_offset);
min_obstacle_distance -= m_distance_offset;
if( min_obstacle_distance < 0 )
......
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