light and fall recovery

2026-06-24 18:10:55 +03:00
parent c900f0abc0
commit 57e146b782
6 changed files with 57 additions and 17 deletions
@@ -83,18 +83,15 @@ def generate_launch_description():

    pkg_gen_location_on_mesh = FindPackageShare(package="").find("gen_locations_on_mesh")

-    mesh_path = PathJoinSubstitution([pkg_gen_location_on_mesh, "share", "sirius_scene_floor.ply"])
-
-    cache_path = PathJoinSubstitution([pkg_gen_location_on_mesh, "share", "cache.pkl"])
+    mesh_path = PathJoinSubstitution([pkg_gen_location_on_mesh, "share", "sirius_scene_floor_and_objs.ply"])

    start_gen_location_on_mesh_cmd = Node(
        name='gen_locations_on_mesh',
        package='gen_locations_on_mesh',
        executable='gen_locations_on_mesh',
        parameters=[{'mesh_filename': mesh_path,
-                   'cache_filename': cache_path,
                   'init_number_of_points': 100,
-                   'max_z_coord': 3.}])
+                   'max_z_coord': 10.}])

    return LaunchDescription(
        launch_args