added ros params

docker/world_modeling/occupancy_segmentation/occupancy_segmentation.Dockerfile

@@ -6,7 +6,6 @@ FROM ${BASE_IMAGE} as source
 WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
-# RUN git clone https://github.com/ros-perception/perception_pcl.git --branch 2.4.3
 COPY src/world_modeling/occupancy_segmentation occupancy_segmentation
 
 # Scan for rosdeps
@@ -16,11 +15,13 @@ RUN apt-get -qq update && rosdep update && \
         | awk '{print $3}' \
         | sort  > /tmp/colcon_install_list
 
-RUN sudo apt-get install libeigen3-dev
-RUN sudo apt-get -y install libtbb-dev
 ################################# Dependencies ################################
 FROM ${BASE_IMAGE} as dependencies
 
+# Install some patchwork dependencies
+RUN sudo apt-get install libeigen3-dev
+RUN sudo apt-get -y install libtbb-dev
+
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
 RUN apt-get -qq update && apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)

src/world_modeling/occupancy_segmentation/config/params.yaml

@@ -1,4 +1,21 @@
-occupancy_segmentation_node:
+occupancy_segmentation:
   ros__parameters:
     version: 1
-    compression_method: 0
+    lidar_input_topic: "/velodyne_points"
+    ground_output_topic: "/ground_points"
+    nonground_output_topic: "/nonground_points"
+    l_min: 2.7
+    l_max: 80.0
+    md: 0.3
+    mh: -1.1
+    min_num_points: 10
+    num_seed_points: 20
+    th_seeds: 0.5
+    uprightness_thresh: 0.5
+    num_rings_of_interest: 4
+    sensor_height: 1.7
+    global_el_thresh: 0.0
+    zone_rings: [2, 4, 4, 4]
+    zone_sectors: [16, 32, 54, 32]
+    flatness_thr: [0.0005, 0.000725, 0.001, 0.001]
+    elevation_thr: [0.523, 0.746, 0.879, 1.125]