empty:
  name: "robot_body_filter"
  type: "robot_body_filter/RobotBodyFilterLaserScan"
  params: {}

test_chain_config:
- name: "robot_body_filter"
  type: "robot_body_filter/RobotBodyFilterLaserScan"
  params:
    frames/fixed: 'odom'
    frames/sensor: 'laser'
    filter/keep_clouds_organized: True
    filter/model_pose_update_interval: 0.002  # do not get lower, the processing is then too slow
    test/negative: -1
    sensor/point_by_point: True
    sensor/min_distance: 0.1
    sensor/max_distance: 10.0
    ignored_links/bounding_sphere: ["antenna", "base_link::big_collision_box"]
    ignored_links/shadow_test: ["laser", "base_link::big_collision_box"]
    body_model/inflation/scale: 1.1
    body_model/inflation/padding: 0.01
    body_model/inflation/per_link/scale:
      "antenna::contains": 1.2
      "antenna::bounding_sphere": 1.2
      "antenna::bounding_box": 1.2
      "*::big_collision_box::contains": 2
      "*::big_collision_box::bounding_sphere": 2
      "*::big_collision_box::bounding_box": 2
      "*::big_collision_box::shadow": 3
      "wrong_type": True
      "wrong_type2": "str"
    body_model/inflation/per_link/padding:
      "laser::shadow": 0.015
      "base_link": 0.05
    body_model/inflation/per_link/all_wrong:
      "laser": "0.015"
      "base_link": "0.05"
    body_model/robot_description_param: 'test_robot_description'
    transforms/buffer_length: 60.0
    transforms/timeout/reachable: 0.2
    transforms/timeout/unreachable: 0.2
    bounding_sphere/compute: True
    bounding_sphere/debug: False
    bounding_sphere/marker: False
    bounding_sphere/publish_cut_out_pointcloud: False
    bounding_box/compute: False
    bounding_box/debug: False
    bounding_box/marker: False
    bounding_box/publish_cut_out_pointcloud: False
    oriented_bounding_box/compute: False
    oriented_bounding_box/debug: False
    oriented_bounding_box/marker: False
    oriented_bounding_box/publish_cut_out_pointcloud: False
    local_bounding_box/frame_id: "base_link"
    local_bounding_box/compute: True
    local_bounding_box/debug: False
    local_bounding_box/marker: False
    local_bounding_box/publish_cut_out_pointcloud: False
    debug/pcl/inside: False
    debug/pcl/clip: False
    debug/pcl/shadow: False
    debug/marker/contains: False
    debug/marker/shadow: False
    test_value: 1.1234

test_dict_config:
  name: "robot_body_filter"
  type: "robot_body_filter/RobotBodyFilterLaserScan"
  params:
    frames/fixed: 'odom'
    frames/sensor: 'laser'
    filter/keep_clouds_organized: True
    filter/model_pose_update_interval: 0.002  # do not get lower, the processing is then too slow
    test/negative: -1
    sensor/point_by_point: True
    sensor/min_distance: 0.1
    sensor/max_distance: 10.0
    ignored_links/bounding_sphere: ["antenna", "base_link::big_collision_box"]
    ignored_links/shadow_test: ["laser", "base_link::big_collision_box"]
    body_model/inflation/scale: 1.1
    body_model/inflation/padding: 0.01
    body_model/inflation/per_link/scale:
      "antenna::contains": 1.2
      "antenna::bounding_sphere": 1.2
      "antenna::bounding_box": 1.2
      "*::big_collision_box::contains": 2
      "*::big_collision_box::bounding_sphere": 2
      "*::big_collision_box::bounding_box": 2
      "*::big_collision_box::shadow": 3
      "wrong_type": True
      "wrong_type2": "str"
    body_model/inflation/per_link/padding:
      "laser::shadow": 0.015
      "base_link": 0.05
    body_model/inflation/per_link/all_wrong:
      "laser": "0.015"
      "base_link": "0.05"
    body_model/robot_description_param: 'test_robot_description'
    transforms/buffer_length: 60.0
    transforms/timeout/reachable: 0.2
    transforms/timeout/unreachable: 0.2
    bounding_sphere/compute: True
    bounding_sphere/debug: False
    bounding_sphere/marker: False
    bounding_sphere/publish_cut_out_pointcloud: False
    bounding_box/compute: False
    bounding_box/debug: False
    bounding_box/marker: False
    bounding_box/publish_cut_out_pointcloud: False
    oriented_bounding_box/compute: False
    oriented_bounding_box/debug: False
    oriented_bounding_box/marker: False
    oriented_bounding_box/publish_cut_out_pointcloud: False
    local_bounding_box/frame_id: "base_link"
    local_bounding_box/compute: True
    local_bounding_box/debug: False
    local_bounding_box/marker: False
    local_bounding_box/publish_cut_out_pointcloud: False
    debug/pcl/inside: False
    debug/pcl/clip: False
    debug/pcl/shadow: False
    debug/marker/contains: False
    debug/marker/shadow: False
    test_value: 1.1234

all_config:
  name: "robot_body_filter"
  type: "robot_body_filter/RobotBodyFilterLaserScan"
  params:
    frames/fixed: 'odom'
    frames/sensor: 'laser'
    frames/filtering: 'base_link'
    filter/keep_clouds_organized: True
    filter/model_pose_update_interval: 0.002  # do not get lower, the processing is then too slow
    filter/do_clipping: True
    filter/do_contains_test: True
    filter/do_shadow_test: True
    sensor/point_by_point: True
    sensor/min_distance: 0.1
    sensor/max_distance: 10.0
    ignored_links/bounding_sphere: ["antenna", "base_link::big_collision_box"]
    ignored_links/shadow_test: ["laser", "base_link::big_collision_box"]
    ignored_links/bounding_box: ["base_link"]
    ignored_links/contains_test: ["base_link"]
    ignored_links/everywhere: ["base_link"]
    only_links: ["laser"]
    body_model/inflation/scale: 1.1
    body_model/inflation/padding: 0.01
    body_model/robot_description_param: 'test_robot_description'
    body_model//dynamic_robot_description/field_name: 'robot'
    transforms/buffer_length: 60.0
    transforms/timeout/reachable: 0.2
    transforms/timeout/unreachable: 0.2
    transforms/require_all_reachable: True
    bounding_sphere/compute: True
    bounding_sphere/debug: True
    bounding_sphere/marker: True
    bounding_sphere/publish_cut_out_pointcloud: True
    bounding_box/compute: True
    bounding_box/debug: True
    bounding_box/marker: True
    bounding_box/publish_cut_out_pointcloud: True
    oriented_bounding_box/compute: True
    oriented_bounding_box/debug: True
    oriented_bounding_box/marker: True
    oriented_bounding_box/publish_cut_out_pointcloud: True
    local_bounding_box/frame_id: "base_link"
    local_bounding_box/compute: True
    local_bounding_box/debug: True
    local_bounding_box/marker: True
    local_bounding_box/publish_cut_out_pointcloud: True
    debug/pcl/inside: True
    debug/pcl/clip: True
    debug/pcl/shadow: True
    debug/marker/contains: True
    debug/marker/shadow: True
    test_value: 1.1234

compute_mask_config_point_by_point:
  name: "robot_body_filter"
  type: "robot_body_filter/RobotBodyFilterLaserScan"
  params:
    frames/fixed: 'odom'
    frames/sensor: 'laser'
    filter/keep_clouds_organized: False
    filter/model_pose_update_interval: 0.002  # do not get lower, the processing is then too slow
    sensor/point_by_point: True
    sensor/min_distance: 0.1
    sensor/max_distance: 10.0
    ignored_links/bounding_sphere: ["antenna", "base_link::big_collision_box"]
    ignored_links/shadow_test: ["laser", "base_link::big_collision_box"]
    body_model/inflation/scale: 1.1
    body_model/inflation/padding: 0.01
    body_model/inflation/per_link/scale:
      "base_link::0::contains": 1.0
      "base_link::0::bounding_sphere": 1.0
      "base_link::0::bounding_box": 1.0
    body_model/inflation/per_link/padding:
      "base_link::0::contains": 0.02
      "base_link::0::bounding_sphere": 0.02
      "base_link::0::bounding_box": 0.02
    body_model/robot_description_param: 'test_robot_description'
    transforms/buffer_length: 60.0
    transforms/timeout/reachable: 0.2
    transforms/timeout/unreachable: 0.2
    bounding_sphere/compute: True
    bounding_sphere/debug: True
    bounding_sphere/marker: True
    bounding_sphere/publish_cut_out_pointcloud: True
    bounding_box/compute: True
    bounding_box/debug: True
    bounding_box/marker: True
    bounding_box/publish_cut_out_pointcloud: True
    oriented_bounding_box/compute: True
    oriented_bounding_box/debug: True
    oriented_bounding_box/marker: True
    oriented_bounding_box/publish_cut_out_pointcloud: True
    local_bounding_box/frame_id: "base_link"
    local_bounding_box/compute: True
    local_bounding_box/debug: True
    local_bounding_box/marker: True
    local_bounding_box/publish_cut_out_pointcloud: True
    debug/pcl/inside: True
    debug/pcl/clip: True
    debug/pcl/shadow: True
    debug/marker/contains: True
    debug/marker/shadow: True
    test_value: 1.1234

compute_mask_config_all_at_once:
  name: "robot_body_filter"
  type: "robot_body_filter/RobotBodyFilterPointCloud2"
  params:
    frames/fixed: 'odom'
    frames/sensor: 'laser'
    frames/filtering: 'laser'
    frames/output: 'base_link'
    filter/keep_clouds_organized: True
    filter/model_pose_update_interval: 0.002  # do not get lower, the processing is then too slow
    sensor/point_by_point: False
    sensor/min_distance: 0.1
    sensor/max_distance: 10.0
    ignored_links/bounding_sphere: ["antenna", "base_link::big_collision_box"]
    ignored_links/shadow_test: ["laser", "base_link::big_collision_box"]
    body_model/inflation/scale: 1.1
    body_model/inflation/padding: 0.01
    body_model/inflation/per_link/scale:
      "base_link::0::contains": 1.0
      "base_link::0::bounding_sphere": 1.0
      "base_link::0::bounding_box": 1.0
    body_model/inflation/per_link/padding:
      "base_link::0::contains": 0.02
      "base_link::0::bounding_sphere": 0.02
      "base_link::0::bounding_box": 0.02
    body_model/robot_description_param: 'test_robot_description'
    transforms/buffer_length: 60.0
    transforms/timeout/reachable: 0.2
    transforms/timeout/unreachable: 0.2
    bounding_sphere/compute: True
    bounding_sphere/debug: True
    bounding_sphere/marker: True
    bounding_sphere/publish_cut_out_pointcloud: True
    bounding_box/compute: True
    bounding_box/debug: True
    bounding_box/marker: True
    bounding_box/publish_cut_out_pointcloud: True
    oriented_bounding_box/compute: True
    oriented_bounding_box/debug: True
    oriented_bounding_box/marker: True
    oriented_bounding_box/publish_cut_out_pointcloud: True
    local_bounding_box/frame_id: "base_link"
    local_bounding_box/compute: True
    local_bounding_box/debug: True
    local_bounding_box/marker: True
    local_bounding_box/publish_cut_out_pointcloud: True
    debug/pcl/inside: True
    debug/pcl/clip: True
    debug/pcl/shadow: True
    debug/marker/contains: True
    debug/marker/shadow: True
    test_value: 1.1234