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Published 20 hours ago • verified publisher icon koide3

How to change use another engine

Open Magmanat opened this issue 4 years ago • 4 comments

Hi Koide!

Currently whenever i use /relocalize it always uses the Branch and Bound method

How do i use the rosservice /hdl_global_localization/set_engine feature to change to fpfh_ransac or fpfh_teaser?

Magmanat avatar Feb 19 '21 03:02 Magmanat

rosservice call /hdl_global_localization/set_engine FPFH_RANSAC ERROR: Incompatible arguments to call service: No key named [FPFH_RANSAC] Provided arguments are:

  • FPFH_RANSAC (type str)

Service arguments are: [engine_name.data]

how do i provide the service arguments as engine_name.data?

Magmanat avatar Feb 19 '21 05:02 Magmanat

or is there a way to start up global localization node with FPFH RANSAC instead of BBS

Magmanat avatar Feb 19 '21 06:02 Magmanat

the argument should be like this:

$ rosservice call /hdl_global_localization/set_engine "engine_name: data: FPFH_RANSAC"

nstathou avatar Jan 22 '22 22:01 nstathou

https://github.com/koide3/hdl_global_localization/blob/3586396a32c6b0c003a02d8cffe18e97723330a3/config/general_config.yaml#L2

Alex-Beh avatar Feb 13 '23 07:02 Alex-Beh