ros2-ify panda_moveit_config

moveit · Jun 9, 2023 · fe43f7b · fe43f7b
1 parent a035b68
commit fe43f7b
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Showing 2 changed files with 24 additions and 20 deletions.
diff --git a/panda_moveit_config/config/sensors_kinect_depthmap.yaml b/panda_moveit_config/config/sensors_kinect_depthmap.yaml
@@ -1,11 +1,13 @@
-sensors:
-  - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
-    image_topic: /camera/depth_registered/image_raw
-    queue_size: 5
-    near_clipping_plane_distance: 0.3
-    far_clipping_plane_distance: 5.0
-    shadow_threshold: 0.2
-    padding_scale: 4.0
-    padding_offset: 0.03
-    max_update_rate: 1.0
-    filtered_cloud_topic: filtered_cloud
+/**:
+  sensors:
+    ros__parameters:
+      sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
+      image_topic: /camera/depth_registered/image_raw
+      queue_size: 5
+      near_clipping_plane_distance: 0.3
+      far_clipping_plane_distance: 5.0
+      shadow_threshold: 0.2
+      padding_scale: 4.0
+      padding_offset: 0.03
+      max_update_rate: 1.0
+      filtered_cloud_topic: filtered_cloud
diff --git a/panda_moveit_config/config/sensors_kinect_pointcloud.yaml b/panda_moveit_config/config/sensors_kinect_pointcloud.yaml
@@ -1,9 +1,11 @@
-sensors:
-  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
-    point_cloud_topic: /camera/depth_registered/points
-    max_range: 5.0
-    point_subsample: 1
-    padding_offset: 0.1
-    padding_scale: 1.0
-    max_update_rate: 1.0
-    filtered_cloud_topic: filtered_cloud
+/**:
+  sensors:
+    ros__parameters:
+      sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
+      point_cloud_topic: /camera/depth_registered/points
+      max_range: 5.0
+      point_subsample: 1
+      padding_offset: 0.1
+      padding_scale: 1.0
+      max_update_rate: 1.0
+      filtered_cloud_topic: filtered_cloud