I managed to test all filters in the scan_to_scan_filter_chain. However, the scan_to_cloud_filter_chain is not working. I'm using the same config as described in the wikihttp://wiki.ros.org/laser_filters:
$ cat params.yaml:
scan_to_cloud_filter_chain:
ros__parameters:
scan_filter_chain:
filter1:
name: scan_range
type: laser_filters/LaserScanRangeFilter
params:
use_message_range_limits: false # if not specified defaults to false
lower_threshold: 0.5 # if not specified defaults to 0.0
upper_threshold: 10.0 # if not specified defaults to 100000.0
lower_replacement_value: -.inf # if not specified defaults to NaN
upper_replacement_value: .inf # if not specified defaults to NaN
tf_message_filter_target_frame: world
cloud_filter_chain:
filter1:
type: laser_filters/PointCloudFootprintFilter
name: footprint_filter
params:
inscribed_radius: 0.325
target_frame: world
high_fidelity: true
However, I got an error when the params.yaml got parsed :
[scan_to_cloud_filter_chain-13] [ERROR] [1615891443.085968415] [rcl]: Failed to parse global arguments
[scan_to_cloud_filter_chain-13] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[scan_to_cloud_filter_chain-13] what(): failed to initialize rcl: Couldn't parse params file: '--params-file /home/blackdrones/blackdrones_ws/install/blackdrones_control/share/blackdrones_control/config/params.yaml'. Error: No value at line 9, at /tmp/binarydeb/ros-foxy-rcl-yaml-param-parser-1.1.10/src/parse.c:204, at /tmp/binarydeb/ros-foxy-rcl-1.1.10/src/rcl/arguments.c:388
Hi again,
I managed to test all filters in the scan_to_scan_filter_chain. However, the scan_to_cloud_filter_chain is not working. I'm using the same config as described in the wikihttp://wiki.ros.org/laser_filters:
However, I got an error when the params.yaml got parsed :
Does anyone get this to work? Any ideas?
Thank you!