<commit_before><?xml version="1.0"?>
<launch>
	<!-- summit_xl_docking -->

	
	<arg name="marker_size" default="12.0" />
	<arg name="max_new_marker_error" default="0.08" />
	<arg name="max_track_error" default="0.2" />
	<arg name="cam_image_topic" default="/rgbd_front/rgb/image_raw" />
	<arg name="cam_info_topic" default="/rgbd_front/rgb/camera_info" />
	<arg name="output_frame" default="rgbd_front_rgb_optical_frame" />
	
	<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen" args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic) $(arg cam_info_topic) $(arg output_frame)" />


        <node name="tf_robotnik_pose_filter" pkg="robotnik_pose_filter" type="tf_pose_filter_node" respawn="false" output="screen">
                <param name="filter_position_sensitivity"       type="double" value="0.5" />
                <param name="filter_orientation_sensitivity"    type="double" value="0.8" />
                <param name="unfiltered_source_frame" type="string" value="rgbd_front_rgb_optical_frame" />
                <param name="unfiltered_target_frame" type="string" value="ar_marker_1" />
                <param name="source_frame" type="string" value="odom" />
                <param name="target_frame" type="string" value="docking_station_marker" />
                <param name="two_d_mode" type="bool" value="true" />
        </node>


        <node name="robotnik_docker" pkg="robotnik_docker" type="docker_node" respawn="false" output="screen">
                <param name="robot_base_frame" type="string" value="base_footprint" />
                <param name="robot_dock_frame" type="string" value="base_footprint" />

                <param name="fixed_frame" type="string" value="odom" />
                <param name="dock_frame" type="string" value="docking_station_marker" />

                <param name="omni" type="bool" value="true" />

                <param name="gain_linear_velocity_x" value="1" />
                <param name="gain_linear_velocity_y" value="1" />
                <param name="gain_angular_velocity_z" value="1" />

                <param name="maximum_linear_velocity_x" value="0.1" />
                <param name="maximum_linear_velocity_y" value="0.1" />
                <param name="maximum_angular_velocity_z" value="0.35" />


                <remap from="~cmd_vel" to="cmd_vel" />
        </node>




</launch>
<commit_msg>summit_xl_navigation: corrected docking launch files<commit_after><?xml version="1.0"?>
<launch>
	<!-- summit_xl_docking -->

	
	<arg name="marker_size" default="12.0" />
	<arg name="max_new_marker_error" default="0.08" />
	<arg name="max_track_error" default="0.2" />
	<arg name="cam_image_topic" default="/rgbd_front/rgb/image_raw" />
	<arg name="cam_info_topic" default="/rgbd_front/rgb/camera_info" />
	<arg name="output_frame" default="rgbd_front_rgb_optical_frame" />
	
	<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen" args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic) $(arg cam_info_topic) $(arg output_frame)" />


	<node name="marker2contact" pkg="tf" type="static_transform_publisher" args="-0.33 0.02 0 0 0 0 docking_station_marker docking_station_contact 100" />

        <node name="tf_robotnik_pose_filter" pkg="robotnik_pose_filter" type="tf_pose_filter_node" respawn="false" output="screen">
                <param name="filter_position_sensitivity"       type="double" value="0.5" />
                <param name="filter_orientation_sensitivity"    type="double" value="0.8" />
                <param name="unfiltered_source_frame" type="string" value="rgbd_front_rgb_optical_frame" />
                <param name="unfiltered_target_frame" type="string" value="ar_marker_1" />
                <param name="source_frame" type="string" value="odom" />
                <param name="target_frame" type="string" value="docking_station_marker" />
                <param name="two_d_mode" type="bool" value="true" />
        </node>


        <node name="docker" pkg="robotnik_docker" type="docker_node" respawn="false" output="screen">
                <param name="robot_base_frame" type="string" value="base_footprint" />
                <param name="robot_dock_frame" type="string" value="base_footprint" />

                <param name="fixed_frame" type="string" value="odom" />

                <param name="omni" type="bool" value="true" />

                <param name="gain_linear_velocity_x" value="1" />
                <param name="gain_linear_velocity_y" value="1" />
                <param name="gain_angular_velocity_z" value="1" />

                <param name="maximum_linear_velocity_x" value="0.1" />
                <param name="maximum_linear_velocity_y" value="0.1" />
                <param name="maximum_angular_velocity_z" value="0.35" />

                <param name="initial_maximum_distance_x" value="2.5" />
                <param name="initial_minimum_distance_x" value="0.1" />

                <param name="initial_maximum_arc" value="0.5" />
                <param name="initial_maximum_yaw" value="0.5" />

                <!-- remap from="~cmd_vel" to="cmd_vel" / -->
        </node>




</launch>

{'fraction_non_alphanumeric': 0.15136755339078306, 'fraction_numerical': 0.013488197826901461, 'mean_word_length': 3.2987117552334944, 'pattern_counts': {'":': 0, '<': 75, '<?xml version=': 2, '>': 75, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 2}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '1366235', 'n_tokens_mistral': 1820, 'n_tokens_neox': 1652, 'n_words': 273}