<commit_before><?xml version="1.0"?>
<launch>
    <arg name="chest_xtion_machine" default="localhost"/>
    <arg name="chest_xtion_user" default=""/>
    <arg name="head_xtion_machine" default="localhost"/>
    <arg name="head_xtion_user" default=""/>

    <arg name="chest_xtion_name" default="chest_xtion"/>
    <arg name="z_stair_threshold" default="0.12"/>

    <arg name="with_head_xtion" default="false"/>

    <arg name="laser_angle_cutoff" default="10.0"/>
    <arg name="resolution" default="0.05"/>
    <arg name="min_points" default="5"/>
    <arg name="skip_points" default="20"/>

    <!-- NOW when launching in a remote mode it will need the ROS_ENV_LOADER set if not it will leave it empty -->
    <machine name="$(arg chest_xtion_machine)" address="$(arg chest_xtion_machine)" env-loader="$(optenv ROS_ENV_LOADER )" user="$(arg chest_xtion_user)" default="false"/>
    <machine name="$(arg head_xtion_machine)" address="$(arg head_xtion_machine)" env-loader="$(optenv ROS_ENV_LOADER )" user="$(arg head_xtion_user)" default="false"/>

    <!-- This node downsamples cloud and removes voxels with too few points in them -->
    <node pkg="strands_movebase" type="subsample_cloud" name="subsample_cloud" output="screen" machine="$(arg chest_xtion_machine)">
        <param name="input" value="$(arg chest_xtion_name)/depth/points"/>
        <param name="output" value="/move_base/points_subsampled"/>
        <param name="resolution" value="$(arg resolution)"/>
        <param name="min_points" value="$(arg min_points)"/>
        <param name="skip_points" value="$(arg skip_points)"/>
    </node>

    <!-- This node divides into points below and above the floor -->
    <node pkg="strands_movebase" type="mirror_floor_points" name="mirror_floor_points" output="screen" machine="$(arg chest_xtion_machine)">
        <param name="input" value="/move_base/points_subsampled"/>
        <param name="obstacle_output" value="/move_base/points_clearing"/><commit_msg>Switched to the nodelet version in the obstacles launch file<commit_after><?xml version="1.0"?>
<launch>
    <arg name="chest_xtion_machine" default="localhost"/>
    <arg name="chest_xtion_user" default=""/>
    <arg name="head_xtion_machine" default="localhost"/>
    <arg name="head_xtion_user" default=""/>

    <arg name="chest_xtion_name" default="chest_xtion"/>
    <arg name="chest_xtion_manager" default="/$(arg chest_xtion_name)/$(arg chest_xtion_name)_nodelet_manager"/>
    <arg name="z_stair_threshold" default="0.12"/>

    <arg name="with_head_xtion" default="false"/>

    <arg name="laser_angle_cutoff" default="10.0"/>
    <arg name="resolution" default="0.05"/>
    <arg name="min_points" default="5"/>
    <arg name="skip_points" default="20"/>

    <!-- NOW when launching in a remote mode it will need the ROS_ENV_LOADER set if not it will leave it empty -->
    <machine name="$(arg chest_xtion_machine)" address="$(arg chest_xtion_machine)" env-loader="$(optenv ROS_ENV_LOADER )" user="$(arg chest_xtion_user)" default="false"/>
    <machine name="$(arg head_xtion_machine)" address="$(arg head_xtion_machine)" env-loader="$(optenv ROS_ENV_LOADER )" user="$(arg head_xtion_user)" default="false"/>

    <!-- This node downsamples cloud and removes voxels with too few points in them -->
    <!-- This is commented out in favour of the more efficient nodelet version below -->
    <!--
    <node pkg="strands_movebase" type="subsample_cloud" name="subsample_cloud" output="screen" machine="$(arg chest_xtion_machine)">
        <param name="input" value="$(arg chest_xtion_name)/depth/points"/>
        <param name="output" value="/move_base/points_subsampled"/>
        <param name="resolution" value="$(arg resolution)"/>
        <param name="min_points" value="$(arg min_points)"/>
        <param name="skip_points" value="$(arg skip_points)"/>
    </node>
    -->

    <!-- The machine tag is not needed here since it is loaded into the nodelet manager of the chest_xtion driver -->
    <node pkg="nodelet" type="nodelet" name="subsample_cloud_nodelet" args="load strands_movebase/subsample_cloud_nodelet $(arg chest_xtion_manager)" output="screen">
        <param name="input" value="/$(arg chest_xtion_name)/depth/points"/>
        <param name="output" value="/move_base/points_subsampled"/>
        <param name="resolution" value="$(arg resolution)"/>
        <param name="min_points" value="$(arg min_points)"/>
        <param name="skip_points" value="$(arg skip_points)"/>
    </node>

    <!-- This node divides into points below and above the floor -->
    <node pkg="strands_movebase" type="mirror_floor_points" name="mirror_floor_points" output="screen" machine="$(arg chest_xtion_machine)">
        <param name="input" value="/move_base/points_subsampled"/>
        <param name="obstacle_output" value="/move_base/points_clearing"/>
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{'dir': 'git-commits-cleaned', 'id': '1998311', 'n_tokens_mistral': 1538, 'n_tokens_neox': 1447, 'n_words': 352}