bool PointCloudMoveitFilter::setParams(XmlRpc::XmlRpcValue ¶ms)
{
try
{
if (!params.hasMember("point_cloud_topic"))
return false;
point_cloud_topic_ = static_cast<const std::string&>(params["point_cloud_topic"]);
readXmlParam(params, "max_range", &max_range_);
readXmlParam(params, "padding_offset", &padding_);
readXmlParam(params, "padding_scale", &scale_);
readXmlParam(params, "point_subsample", &point_subsample_);
if (!params.hasMember("filtered_cloud_topic")) {
ROS_ERROR("filtered_cloud_topic is required");
return false;
}
else {
filtered_cloud_topic_ = static_cast<const std::string&>(params["filtered_cloud_topic"]);
}
if (params.hasMember("filtered_cloud_use_color")) {
use_color_ = (bool)params["filtered_cloud_use_color"];
}
if (params.hasMember("filtered_cloud_keep_organized")) {
keep_organized_ = (bool)params["filtered_cloud_keep_organized"];
}
}
catch (XmlRpc::XmlRpcException& ex)
{
ROS_ERROR("XmlRpc Exception: %s", ex.getMessage().c_str());
return false;
}
return true;
}
bool DepthImageOccupancyMapUpdater::setParams(XmlRpc::XmlRpcValue ¶ms)
{
try
{
sensor_type_ = (std::string) params["sensor_type"];
if (params.hasMember("image_topic"))
image_topic_ = (std::string) params["image_topic"];
if (params.hasMember("queue_size"))
queue_size_ = (int)params["queue_size"];
readXmlParam(params, "near_clipping_plane_distance", &near_clipping_plane_distance_);
readXmlParam(params, "far_clipping_plane_distance", &far_clipping_plane_distance_);
readXmlParam(params, "shadow_threshold", &shadow_threshold_);
readXmlParam(params, "padding_scale", &padding_scale_);
readXmlParam(params, "padding_offset", &padding_offset_);
readXmlParam(params, "skip_vertical_pixels", &skip_vertical_pixels_);
readXmlParam(params, "skip_horizontal_pixels", &skip_horizontal_pixels_);
}
catch (XmlRpc::XmlRpcException &ex)
{
ROS_ERROR("XmlRpc Exception: %s", ex.getMessage().c_str());
return false;
}
return true;
}
bool PointCloudOctomapUpdater::setParams(XmlRpc::XmlRpcValue ¶ms)
{
try
{
if (!params.hasMember("point_cloud_topic"))
return false;
point_cloud_topic_ = std::string (params["point_cloud_topic"]);
readXmlParam(params, "max_range", &max_range_);
readXmlParam(params, "shape_padding", &padding_);
readXmlParam(params, "shape_scale", &scale_);
readXmlParam(params, "point_subsample", &point_subsample_);
}
catch (XmlRpc::XmlRpcException &ex)
{
ROS_ERROR("XmlRpc Exception: %s", ex.getMessage().c_str());
return false;
}
return true;
}
