From 6f778c91452856bbb213c0f651c87aa567336ec6 Mon Sep 17 00:00:00 2001
From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Date: Fri, 4 Mar 2022 01:06:54 +0900
Subject: [PATCH] revert(dummy_perception): change leaf size and disable ray
 trace (#468)

* Revert "chore(dummy_perception_publisher): change raytrace param (#414)"

This reverts commit d29e0e1d6630ef53edea1dd66bebf1a657aa6e8b.

Signed-off-by: taikitanaka <ttatcoder@outlook.jp>

* chore(dummy_perception): revert change leaf size and disable raytrace

Signed-off-by: taikitanaka <ttatcoder@outlook.jp>
---
 .../launch/dummy_perception_publisher.launch.xml              | 2 +-
 simulator/dummy_perception_publisher/src/node.cpp             | 4 +---
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml b/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
index 73385ef459233..4818bb554c5a1 100644
--- a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
+++ b/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
@@ -17,7 +17,7 @@
         <remap from="input/reset" to="input/reset" />
         <param name="visible_range" value="$(var visible_range)" />
         <param name="detection_successful_rate" value="0.999" />
-        <param name="enable_ray_tracing" value="true" />
+        <param name="enable_ray_tracing" value="false" />
         <param name="use_object_recognition" value="$(var use_object_recognition)" />
       </node>
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/dummy_perception_publisher/src/node.cpp
index a14d083a4e2e4..da5939bccea7d 100644
--- a/simulator/dummy_perception_publisher/src/node.cpp
+++ b/simulator/dummy_perception_publisher/src/node.cpp
@@ -180,9 +180,7 @@ void DummyPerceptionPublisherNode::timerCallback()
       new pcl::PointCloud<pcl::PointXYZ>);
     pcl::VoxelGridOcclusionEstimation<pcl::PointXYZ> ray_tracing_filter;
     ray_tracing_filter.setInputCloud(merged_pointcloud_ptr);
-    // above this value raytrace won't be as expected
-    const double leaf_size = 0.02;
-    ray_tracing_filter.setLeafSize(leaf_size, leaf_size, leaf_size);
+    ray_tracing_filter.setLeafSize(0.25, 0.25, 0.25);
     ray_tracing_filter.initializeVoxelGrid();
     for (size_t i = 0; i < v_pointcloud.size(); ++i) {
       pcl::PointCloud<pcl::PointXYZ>::Ptr ray_traced_pointcloud_ptr(