void BoxDetectionNode::loadParameters()
{
ros::NodeHandle private_nh("~");
#define GOP(key, default_value) getOptionalParameter(private_nh, #key, parameters_.key##_, default_value)
#define GRP(key) getRequiredParameter(private_nh, #key, parameters_.key##_)
GOP(point_cloud_topic, std::string("/camera/depth/points"));
GOP(target_frame_id, std::string("base_link"));
GOP(have_action_server_debug_output, true);
GOP(have_box_detection_debug_output, true);
GOP(box_plane_points_min, 100);
GRP(box_plane_size_min);
GRP(box_plane_size_max);
GOP(detection_timeout, 30.0);
GOP(plane_fitting_distance_threshold, 0.02);
GOP(plane_fitting_max_iterations, 50);
GOP(downsampling_leaf_size, 0.005);
GOP(clusterization_tolerance, 0.02);
GOP(have_plane_publisher, true);
GOP(plane_publishing_rate, 2.0);
GOP(have_collision_object_publisher, true);
GOP(collision_objects_basename, std::string("box"));
GOP(have_visualization_marker_publisher, true);
GOP(visualization_marker_namespace, std::string("tedusar_box_detection"));
#undef GOP
#undef GRP
}
int drvup_mask;
};
#define GRP(r, nm, dn_s, dn_w, up_s, up_w) \
{ \
.name = #nm, \
.reg = r - 0x868, \
.drvdn_shift = dn_s, \
.drvdn_mask = (1 << dn_w) - 1, \
.drvup_shift = up_s, \
.drvup_mask = (1 << dn_w) - 1, \
}
/* Use register offsets from TRM */
static const struct tegra_grp pin_grp_tbl[] = {
GRP(0x868, ao1, 12, 5, 20, 5),
GRP(0x86C, ao2, 12, 5, 20, 5),
GRP(0x870, at1, 12, 7, 20, 7),
GRP(0x874, at2, 12, 7, 20, 7),
GRP(0x878, at3, 12, 7, 20, 7),
GRP(0x87C, at4, 12, 7, 20, 7),
GRP(0x880, at5, 14, 5, 19, 5),
GRP(0x884, cdev1, 12, 5, 20, 5),
GRP(0x888, cdev2, 12, 5, 20, 5),
GRP(0x890, dap1, 12, 5, 20, 5),
GRP(0x894, dap2, 12, 5, 20, 5),
GRP(0x898, dap3, 12, 5, 20, 5),
GRP(0x89C, dap4, 12, 5, 20, 5),
GRP(0x8A0, dbg, 12, 5, 20, 5),
GRP(0x8B0, sdio3, 12, 7, 20, 7),
GRP(0x8B4, spi, 12, 5, 20, 5),
