Added anomaly configs

leggedrobotics · Jan 8, 2024 · e6989e0 · e6989e0
1 parent 8fce9e4
commit e6989e0
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Showing 2 changed files with 10 additions and 4 deletions.
diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml
@@ -41,7 +41,7 @@ overlap_clear_range_xy: 4.0                     # xy range [m] for clearing over
 overlap_clear_range_z: 2.0                      # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting)
 
 map_frame: 'odom'                               # The map frame where the odometry source uses.
-base_frame: 'base_footprint'                              # The robot's base frame. This frame will be a center of the map.
+base_frame: 'footprint'                              # The robot's base frame. This frame will be a center of the map.
 corrected_map_frame: 'odom'
 
 #### Feature toggles ########
@@ -62,7 +62,7 @@ use_only_above_for_upper_bound: false
 
 #### Initializer ########
 initialize_method: 'linear'                                         # Choose one from 'nearest', 'linear', 'cubic'
-initialize_frame_id: ['base_footprint']   # One tf (like ['footprint'] ) initializes a square around it.
+initialize_frame_id: ['footprint']   # One tf (like ['footprint'] ) initializes a square around it.
 initialize_tf_offset: [0.0, 0.0, 0.0, 0.0]                          # z direction. Should be same number as initialize_frame_id.
 dilation_size_initialize: 2                                         # dilation size after the init.
 initialize_tf_grid_size: 0.5                                        # This is not used if number of tf is more than 3.

diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml
@@ -18,7 +18,7 @@ image_channel_fusions:
 
 publishers:
   elevation_map_raw:
-    layers: ['elevation', 'traversability', 'variance', 'rgb']
+    layers: ['elevation', 'traversability', 'variance', 'rgb', 'anomaly']
     basic_layers: ['elevation', 'traversability']
     fps: 5.0
 
@@ -73,4 +73,10 @@ subscribers:
 
   rear_bpearl:
     topic_name: /robot_self_filter/bpearl_rear/point_cloud
-    data_type: pointcloud
+    data_type: pointcloud
+
+  anomaly:
+    topic_name: "/wild_visual_navigation_node/front/traversability"
+    camera_info_topic_name: "/wild_visual_navigation_node/front/camera_info"
+    channel_info_topic_name: "/wild_visual_navigation_node/front/channel_info"
+    data_type: image