• launch/ar_locator.launch
  • • id_robot [default: $(optenv ROBOT_ID robot)]
    • prefix [default: $(arg id_robot)_]
    • camera_locator_node_name [default: camera_locator]
    • pose_filter_node_name [default: $(arg camera_locator_node_name)_pose_filter]
    • robot_base_frame [default: $(arg prefix)base_link]
    • fixed_frame [default: $(arg prefix)odom]
    • object_frame [default: $(arg prefix)ar_marker_noisy_]
    • filter_target_frame [default: $(arg object_frame)([0-9]+)]
    • filtered_target_frame_prefix [default: $(arg prefix)ar_marker_]
    • camera_topic_name [default: front_rgbd_camera/rgb/image_raw]
    • camera_info_topic_name [default: front_rgbd_camera/rgb/camera_info]
    • marker_size [default: 0.12]
    • has_special_markers [default: false]
    • markers_file [default: $(find summit_xl_perception)/config/ar_markers.yaml]
• launch/merge_locator.launch
  • • id_robot [default: $(optenv ROBOT_ID robot)]
    • prefix [default: $(arg id_robot)_]
    • distance_threshold [default: 0.2]
    • ar_marker_frame [default: $(arg prefix)ar_marker_noisy_([0-9]+)]
    • laser_frame [default: $(arg prefix)docking_station_laser_noisy_([0-9]+)]
    • position_x_source [default: laser]
    • position_y_source [default: camera]
    • orientation_source [default: laser]
    • merged_object [default: docking_station]
    • object_frame [default: $(arg prefix)noisy_$(arg merged_object)]
• launch/multi_two_tags_locator.launch
  • • id_robot [default: $(optenv ROBOT_ID robot)]
    • prefix [default: $(arg id_robot)_]
    • two_tag_locator_node_name [default: two_tag_laser_locator]
    • pose_filter_node_name [default: $(arg two_tag_locator_node_name)_pose_filter]
    • tag_distance [default: $(optenv ROBOT_DOCKING_STATION_TAG_DISTANCE 0.3)]
    • tag_max_distance_detection [default: $(optenv ROBOT_DOCKING_STATION_TAG_MAX_DISTANCE_DETECTION 3.5)]
    • tag_distance_margin [default: 0.1]
    • min_num_cluster [default: 5]
    • max_num_cluster [default: 50]
    • desired_freq [default: 40.0]
    • cluster_tolerance [default: 0.05]
    • fixed_frame [default: $(arg prefix)odom]
    • robot_base_frame [default: $(arg prefix)base_footprint]
    • object_frame [default: $(arg prefix)tag]
    • noisy_object_frame [default: $(arg object_frame)_noisy]
    • filtered_object_frame [default: $(arg object_frame)]
    • input_topic_name [default: perception_filtered_points]
• launch/perception_complete.launch
  • • id_robot [default: $(optenv ROBOT_ID robot)]
    • prefix [default: $(arg id_robot)_]
    • run_ar_locator [default: $(optenv ROBOT_RUN_AR_LOCATOR false)]
    • run_reflector_locator [default: $(optenv ROBOT_RUN_REFLECTOR_LOCATOR false)]
    • filter_config_file [default: $(optenv ROBOT_LASER_MODEL_INTENSITY_FILTER default)_intensity_filter]
    • scan_topic [default: $(optenv ROBOT_PERCEPTION_SCAN_TOPIC front_laser/scan)]
    • camera_topic [default: $(optenv ROBOT_PERCEPTION_CAMERA_TOPIC front_rgbd_camera/rgb/image_raw)]
    • camera_info_topic [default: $(optenv ROBOT_PERCEPTION_CAMERA_INFO_TOPIC front_rgbd_camera/rgb/camera_info)]
    • cloud_topic [default: perception_filtered_points]
    • two_tag_locator_node_name [default: docking_station_laser_locator]
    • object_frame [default: $(arg prefix)docking_station_laser]
    • docking_station_tag_distance [default: $(optenv ROBOT_DOCKING_STATION_TAG_DISTANCE 0.3)]
    • docking_station_tag_max_distance_detection [default: $(optenv ROBOT_DOCKING_STATION_TAG_MAX_DISTANCE_DETECTION 3.5)]
    • docking_merge_locator_distance_threshold [default: 0.2]
    • docking_merge_locator_ar_marker_frame [default: $(arg prefix)ar_marker_noisy_([0-9]+)]
    • docking_merge_locator_laser_frame [default: $(arg prefix)docking_station_laser_noisy_([0-9]+)]
    • docking_merge_locator_position_x_source [default: laser]
    • docking_merge_locator_position_y_source [default: laser]
    • docking_merge_locator_orientation_source [default: laser]
    • camera_info_topic_name [default: $(arg camera_info_topic)]
• launch/scan_to_cloud.launch
  • • id_robot [default: $(optenv ROBOT_ID robot)]
    • filter_config_file [default: default_intensity_filter]
    • config_path [default: $(find summit_xl_perception)/config/laser/$(arg filter_config_file).yaml]
    • apply_filter [default: true]
    • source_topic [default: front_laser/scan]
    • target_topic [default: front_laser/cloud_filtered_scan]
    • target_frame [default: $(arg id_robot)_base_footprint]
    • node_name [default: scan_to_cloud_filter]
• launch/two_tags_locator.launch
  • • id_robot [default: $(optenv ROBOT_ID robot)]
    • prefix [default: $(arg id_robot)_]
    • two_tag_locator_node_name [default: two_tag_laser_locator]
    • pose_filter_node_name [default: $(arg two_tag_locator_node_name)_pose_filter]
    • tag_distance [default: 0.26]
    • tag_max_distance_detection [default: 3.5]
    • tag_distance_margin [default: 0.1]
    • min_num_cluster [default: 3]
    • max_num_cluster [default: 50]
    • desired_freq [default: 20.0]
    • cluster_tolerance [default: 0.05]
    • fixed_frame [default: $(arg prefix)odom]
    • robot_base_frame [default: $(arg prefix)base_footprint]
    • object_frame [default: $(arg prefix)tag]
    • filtered_object_frame [default: $(arg object_frame)_filtered]
    • input_topic_name [default: front_laser/cloud_filtered_scan]

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