Parameters

There are three parameter files:

  1. Robot Setup Configurations

  2. Plugin configurations

  3. Core Parameters

  4. Sensor parameter

Robot Setup Configurations

Such as Publishers and subscribers

Plugin configurations

More informations on the plugins can be found in Plugins.

Core Parameters

Sensor parameter

More informations on the sensor configurations can be found in Semantics.

front_cam_pointcloud:
  channels: ['rgb', 'chair','sofa',"person" ]
  fusion: ['color','class_average','class_average','class_average']
  topic_name: 'front_camera/semantic_pointcloud'
  semantic_segmentation: True
  publish_segmentation_image: True
  segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large
  show_label_legend: False
  data_type: pointcloud

  cam_info_topic: "camera/depth/camera_info"
  image_topic: "camera/rgb/image_raw"
  depth_topic: "camera/depth/image_raw"
  cam_frame: "camera_rgb_optical_frame"

front_cam_image:
  channels: ['chair','sofa',"person"]
  fusion_methods: ['exponential','exponential','exponential']
  publish_topic: 'semantic_image'
  publish_image_topic: "semantic_image_debug"
  publish_camera_info_topic: 'semantic_image_info'
  publish_fusion_info_topic: 'semantic_image_fusion_info'
  data_type: image

  semantic_segmentation: True
  feature_extractor: True
  segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large
  show_label_legend: False
  image_topic: "camera/rgb/image_raw"
  camera_info_topic: "camera/depth/camera_info"
  resize: 0.5