drill.launch

<launch>
  <node pkg="nodelet" type="nodelet" name="drill_manager"
        args="manager" />
  <!-- Pre settings for multisense only testing -->
  <node pkg="nodelet" type="nodelet" name="x_filter"
        args="load pcl/PassThrough drill_manager">
    <remap from="~input" to="/tilt_laser_listener/output_cloud" />
    <rosparam>
      filter_field_name: x
      filter_limit_min: -2.0
      filter_limit_max: 4.0
    </rosparam>
  </node>
  <node pkg="nodelet" type="nodelet" name="y_filter"
        args="load pcl/PassThrough drill_manager">
    <remap from="~input" to="x_filter/output" />
    <rosparam>
      filter_field_name: y
      filter_limit_min: -2.0
      filter_limit_max: 2.0
    </rosparam>
  </node>
  <node pkg="nodelet" type="nodelet" name="z_filter"
        args="load pcl/PassThrough drill_manager">
    <remap from="~input" to="y_filter/output" />
    <rosparam>
      filter_field_name: z
      filter_limit_min: -2.0
      filter_limit_max: 2.0
    </rosparam>
  </node>

  <node pkg="nodelet" type="nodelet" name="downsample"
        args="load pcl/VoxelGrid drill_manager">
    <remap from="~input" to="z_filter/output" />
    <rosparam>
      filter_field_name: z
      filter_limit_min: -100
      filter_limit_max: 100
      leef_size: 0.02
    </rosparam>
  </node>
  <node pkg="nodelet" type="nodelet" name="precise_downsample"
        args="load pcl/VoxelGrid drill_manager">
    <remap from="~input" to="z_filter/output" />
    <rosparam>
      filter_field_name: z
      filter_limit_min: -100
      filter_limit_max: 100
      leef_size: 0.01
    </rosparam>
  </node>

  <node pkg="nodelet"
        type="nodelet"
        name="precise_remove_small_noises"
        args="standalone pcl/RadiusOutlierRemoval">
    <remap from="~input" to="precise_downsample/output" />
  </node>

  
  <node pkg="jsk_pcl_ros"
        type="normal_estimation_omp"
        name="normal_estimation">
    <remap from="~input" to="downsample/output" />
    <rosparam>
      k_search: 0
      radius_search: 0.05
    </rosparam>
  </node>
  
  <node pkg="jsk_pcl_ros"
        type="normal_direction_filter"
        name="normal_direction_filter">
    <remap from="~input" to="normal_estimation/output_with_xyz" />
    <remap from="~input_imu" to="/multisense/imu/imu_data" />
    <rosparam>
      use_imu: true
      queue_size: 1000
      eps_angle: 0.1
      angle_offset: 0.0
    </rosparam>
  </node>

  <node pkg="nodelet"
        type="nodelet"
        args="standalone pcl/ExtractIndices"
        name="filtered_points">
    <remap from="~input" to="normal_estimation/output_with_xyz" />
    <remap from="~indices" to="normal_direction_filter/output" />
  </node>

  <node pkg="jsk_pcl_ros"
        type="region_growing_multiple_plane_segmentation"
        name="region_growing_multiple_plane_segmentation">
    <remap from="~input" to="filtered_points/output" />
    <remap from="~input_normal" to="filtered_points/output" />
    <rosparam>
      max_size: 50000
      minsize: 1000
      angular_threshold: 0.1
      distance_threshold: 0.05
      max_curvature: 0.4
      cluster_tolerance: 0.15
      ransac_refine_outlier_distance_threshold: 0.01
    </rosparam>
  </node>

  <node pkg="jsk_pcl_ros"
        type="multi_plane_extraction"
        name="multi_plane_extraction">
    <remap from="~input" to="downsample/output" />
    <remap from="~input_polygons" to="region_growing_multiple_plane_segmentation/output/polygons" />
    <remap from="~input_coefficients" to="region_growing_multiple_plane_segmentation/output/coefficients" />
    <rosparam>
      use_indices: false
      min_height: 0.01
      max_height: 0.5
      magnify: 0.0
    </rosparam>
  </node>

  <node pkg="nodelet"
        type="nodelet"
        name="remove_small_noises"
        args="standalone pcl/RadiusOutlierRemoval">
    <remap from="~input" to="multi_plane_extraction/output" />
    <rosparam>
      radius_search: 0.05
      min_neighbors: 20
      </rosparam>
  </node>
  
  <node pkg="jsk_pcl_ros"
        type="euclidean_clustering"
        name="euclidean_clustering">
    <remap from="~input" to="remove_small_noises/output"/>
    <rosparam>
      tolerance: 0.04
      max_size: 25000
      min_size: 5
    </rosparam>
  </node>
  <node pkg="jsk_pcl_ros"
        type="cluster_point_indices_decomposer"
        name="cluster_point_indices_decomposer">
    <remap from="~input" to="remove_small_noises/output" />
    <remap from="~target" to="euclidean_clustering/output"/>
    <remap from="~align_planes" to="region_growing_multiple_plane_segmentation/output/polygons" />
    <remap from="~align_planes_coefficients"
           to="region_growing_multiple_plane_segmentation/output/coefficients" />
    <rosparam>
      align_boxes: true
      use_pca: true
    </rosparam>
  </node>
  <node pkg="jsk_pcl_ros"
        type="bounding_box_filter"
        name="filter_small_boxes">
    <remap from="~input_box" to="cluster_point_indices_decomposer/boxes"/>
    <remap from="~input_indices" to="euclidean_clustering/output"/>
    <rosparam>
      use_x_dimension: true
      x_dimension_min: 0.05
      x_dimension_max: 0.5
      use_y_dimension: true
      y_dimension_min: 0.05
      y_dimension_max: 0.5
      use_z_dimension: true
      z_dimension_min: 0.05
      z_dimension_max: 0.5
    </rosparam>
  </node>

  <node pkg="jsk_pcl_ros"
        type="attention_clipper"
        name="boundingbox_clipper">
    <remap from="~input/points" to="remove_small_noises/output"/>
    <remap from="~input/box_array" to="/filter_small_boxes/output_box" />
    <rosparam>
      use_multiple_attention: true
      radius_search: 0.05
      min_neighbors: 20
    </rosparam>
  </node>

  <node pkg="jsk_pcl_ros"
        name="precise_object_clusters"
        type="cluster_point_indices_decomposer">
    <remap from="~input" to="precise_remove_small_noises/output" />
    <remap from="~target" to="boundingbox_clipper/output/cluster_point_indices" />
  </node>
  
  <node pkg="drc_task_common"
        name="standing_drill_detector"
        type="standing_drill_detector"
        output="screen">
    <remap from="~input" to="remove_small_noises/output" />
    <!-- <remap from="~input" to="precise_remove_small_noises/output" /> -->
    <remap from="~input/box_array" to="boundingbox_clipper/output/box_array"/>
    <remap from="~input/indices" to="boundingbox_clipper/output/cluster_point_indices"/>
    <rosparam>
      cylinder_max_iterations: 1000
      cylinder_min_radius: 0.02
      cylinder_max_radius: 0.04
    </rosparam>
  </node>
</launch>