remove ceil

xu-pu · Apr 18, 2020 · d1dd6e7 · d1dd6e7
1 parent 990d24b
commit d1dd6e7
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Showing 2 changed files with 9 additions and 8 deletions.
diff --git a/fast_planner/plan_manage/config/traj.rviz b/fast_planner/plan_manage/config/traj.rviz
@@ -7,6 +7,7 @@ Panels:
         - /LocalMap1
         - /Planning1
         - /Planning1/position_cmd1
+        - /Mapping1
         - /Mapping1/simulation_map1/Autocompute Value Bounds1
       Splitter Ratio: 0.5
     Tree Height: 535
@@ -374,25 +375,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 32.5006752
+      Distance: 11.3909321
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -14.5552835
-        Y: -0.0899023414
-        Z: 2.12114719e-05
+        X: -19.2461758
+        Y: 0.178303257
+        Z: 2.14498905e-05
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.0500000007
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 1.33979523
+      Pitch: 0.984794497
       Target Frame: <Fixed Frame>
       Value: ThirdPersonFollower (rviz)
-      Yaw: 3.14046836
+      Yaw: 3.12546754
     Saved:
       - Class: rviz/ThirdPersonFollower
         Distance: 17.4853859

diff --git a/fast_planner/plan_manage/launch/topo_algorithm.xml b/fast_planner/plan_manage/launch/topo_algorithm.xml
@@ -85,8 +85,8 @@
     <param name="sdf_map/max_ray_length" value="4.5"/>
 
     <param name="sdf_map/esdf_slice_height" value="0.3"/>
-    <param name="sdf_map/visualization_truncate_height"   value="4.0"/>
-    <param name="sdf_map/virtual_ceil_height"   value="-0.4"/>
+    <param name="sdf_map/visualization_truncate_height"   value="2.5"/>
+    <param name="sdf_map/virtual_ceil_height"   value="3.0"/>
     <param name="sdf_map/show_occ_time"  value="false"/>
     <param name="sdf_map/show_esdf_time" value="false"/>
     <param name="sdf_map/pose_type"     value="1"/>