DuongTD/costmap_2d
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update

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This commit is contained in:
duongtd 2025-12-19 15:35:37 +07:00
parent fdfba18bde
commit 2bcd8e606b
1 changed files with 1 additions and 4 deletions
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5
plugins/voxel_layer.cpp
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@ -102,7 +102,7 @@ bool VoxelLayer::getParams(const std::string& config_file_name, robot::NodeHandl
if (nh.hasParam("unknown_threshold")) if (nh.hasParam("unknown_threshold"))
{ {
nh.getParam("unknown_threshold", unknown_threshold); nh.getParam("unknown_threshold", unknown_threshold);
unknown_threshold_ = unknown_threshold; unknown_threshold_ = unknown_threshold + (VOXEL_BITS - size_z_);
} }
if (nh.hasParam("mark_threshold")) if (nh.hasParam("mark_threshold"))
{ {
@ -111,9 +111,6 @@ bool VoxelLayer::getParams(const std::string& config_file_name, robot::NodeHandl
} }
if (nh.hasParam("combination_method")) if (nh.hasParam("combination_method"))
nh.getParam("combination_method", combination_method_); nh.getParam("combination_method", combination_method_);
this->matchSize(); this->matchSize();