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Commande.cfg runs :-)

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This commit is contained in:
Louis-Guillaume DUBOIS 2015-05-27 19:41:33 +02:00
parent 0b4782098c
commit 772c09a0e5
3 changed files with 13 additions and 28 deletions
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10
CMakeLists.txt
View file

@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 2.8.3) cmake_minimum_required(VERSION 2.8.3)
project(hand_control) project(hand_control)
find_package(catkin REQUIRED COMPONENTS find_package(catkin REQUIRED COMPONENTS
pcl_ros pcl_ros
pcl_msgs pcl_msgs
roscpp roscpp
@ -11,6 +11,7 @@ project(hand_control)
ardrone_autonomy ardrone_autonomy
dynamic_reconfigure dynamic_reconfigure
) )
find_package( find_package(
PkgConfig REQUIRED PkgConfig REQUIRED
) )
@ -59,11 +60,14 @@ target_link_libraries(commande-new-1d ${catkin_LIBRARIES})
target_link_libraries(commande-abs ${catkin_LIBRARIES}) target_link_libraries(commande-abs ${catkin_LIBRARIES})
#add dynamic reconfigure api #add dynamic reconfigure api
generate_dynamic_reconfigure_options( generate_dynamic_reconfigure_options(
cfg/Filtre.cfg cfg/Filtre.cfg
cfg/Commande.cfg cfg/Commande.cfg
) )
add_dependencies(filtre ${PROJECT_NAME}_gencfg) add_dependencies(filtre ${PROJECT_NAME}_gencfg)
catkin_package( add_dependencies(commande-abs ${PROJECT_NAME}_gencfg)
catkin_package(
CATKIN_DEPENDS message_runtime CATKIN_DEPENDS message_runtime
) )

11
cfg/Commande.cfg
View file

@ -1,14 +1,7 @@
#!usr/bin/env python #!/usr/bin/env python
PACKAGE = "hand_control" PACKAGE = "hand_control"
from dynamic_reconfigure.parameter_generator_catkin import * from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator() gen = ParameterGenerator()
#gen.add("int_param", int_t, 0, "An Integer parameter", 50, 0, 100)
#"commande" node
gen.add("max_curvature", double_t, 0, "Maximum curvature of the estimated plane", 0.5, 0., 1.) gen.add("max_curvature", double_t, 0, "Maximum curvature of the estimated plane", 0.5, 0., 1.)
gen.add("x_minimal_deviation", double_t, 0, "Absolute horizontal movement detection treshold", 0.05, 0.) gen.add("x_minimal_deviation", double_t, 0, "Absolute horizontal movement detection treshold", 0.05, 0.)
gen.add("y_minimal_deviation", double_t, 0, "Absolute lateral movement detection treshold", 0.05, 0.) gen.add("y_minimal_deviation", double_t, 0, "Absolute lateral movement detection treshold", 0.05, 0.)
@ -17,6 +10,4 @@ gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement co
gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 3000, 0) gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 3000, 0)
gen.add("up_fact", double_t, 0, "Upward command amplification factor", 1.5, 1) gen.add("up_fact", double_t, 0, "Upward command amplification factor", 1.5, 1)
gen.add("theta_minimal_deviation", double_t, 0, "Absolute angular movement detection treshold", 15., 0., 180.) gen.add("theta_minimal_deviation", double_t, 0, "Absolute angular movement detection treshold", 15., 0., 180.)
exit(gen.generate(PACKAGE, "hand_control", "Commande")) exit(gen.generate(PACKAGE, "hand_control", "Commande"))

10
cfg/Filtre.cfg
View file

@ -1,13 +1,7 @@
#!/usr/bin/env python #!/usr/bin/env python
PACKAGE = "hand_control" PACKAGE = "hand_control"
from dynamic_reconfigure.parameter_generator_catkin import * from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator() gen = ParameterGenerator()
#gen.add("int_param", int_t, 0, "An Integer parameter", 50, 0, 100)
# "filtre" node
gen.add("z_max", double_t, 0, "The maximal altitude of the hand", 50., 0.) gen.add("z_max", double_t, 0, "The maximal altitude of the hand", 50., 0.)
gen.add("hue", double_t, 0, "The color hue of the hand", 0., 0., 360.) gen.add("hue", double_t, 0, "The color hue of the hand", 0., 0., 360.)
gen.add("delta_hue", double_t, 0, "The tolerance of the hue filter", 20., 0., 180.) gen.add("delta_hue", double_t, 0, "The tolerance of the hue filter", 20., 0., 180.)
@ -15,8 +9,4 @@ gen.add("sat_min", double_t, 0, "The minimum color saturation of the hand", 0.1,
gen.add("sat_max", double_t, 0, "The maximum color saturation of the hand", 1., 0., 1.) gen.add("sat_max", double_t, 0, "The maximum color saturation of the hand", 1., 0., 1.)
gen.add("val_min", double_t, 0, "The minimum color value of the hand", 0.1, 0., 1.) gen.add("val_min", double_t, 0, "The minimum color value of the hand", 0.1, 0., 1.)
gen.add("val_max", double_t, 0, "The maximum color value of the hand", 1., 0., 1.) gen.add("val_max", double_t, 0, "The maximum color value of the hand", 1., 0., 1.)
#gen.add("bool_param", bool_t, 0, "A Boolean parameter", True)
exit(gen.generate(PACKAGE, "hand_control", "Filtre")) exit(gen.generate(PACKAGE, "hand_control", "Filtre"))