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change topic and msg depth camera

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duongtd
2026-07-11 10:09:55 +07:00
parent faa57d9c93
commit 45c8227f5c
2 changed files with 11 additions and 6 deletions
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5
config/voxel_layer_params.yaml
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@@ -8,8 +8,3 @@ voxel_layer:
unknown_threshold: 15.0
mark_threshold: 0
combination_method: 1
frustum_clearing_enabled: true
frustum_clearing_pixel_step: 8
frustum_min_range: 0.20
frustum_max_range: 3.0
frustum_depth_camera_topic: /camera/depth/image_raw

12
src/costmap_2d_robot.cpp
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@@ -348,20 +348,30 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
move_parameter(plugin_nh, costmap_plugin_nh, "lethal_cost_threshold", lethal_cost_threshold);
move_parameter(plugin_nh, costmap_plugin_nh, "track_unknown_space", track_unknown_space);
}
else if(plugin_type == "VoxelLayer")
else if(plugin_type == "VoxelLayer" || plugin_type == "costmap_2d::VoxelLayer")
{
double origin_z;
double z_resolution;
double frustum_min_range;
double frustum_max_range;
int z_voxels;
int mark_threshold;
int unknown_threshold;
int frustum_clearing_pixel_step;
bool publish_voxel_map;
bool frustum_clearing_enabled;
std::string frustum_depth_camera_topic;
move_parameter(plugin_nh, costmap_plugin_nh, "origin_z", origin_z);
move_parameter(plugin_nh, costmap_plugin_nh, "z_resolution", z_resolution);
move_parameter(plugin_nh, costmap_plugin_nh, "z_voxels", z_voxels);
move_parameter(plugin_nh, costmap_plugin_nh, "mark_threshold", mark_threshold);
move_parameter(plugin_nh, costmap_plugin_nh, "unknown_threshold", unknown_threshold);
move_parameter(plugin_nh, costmap_plugin_nh, "publish_voxel_map", publish_voxel_map);
move_parameter(plugin_nh, costmap_plugin_nh, "frustum_clearing_enabled", frustum_clearing_enabled);
move_parameter(plugin_nh, costmap_plugin_nh, "frustum_clearing_pixel_step", frustum_clearing_pixel_step);
move_parameter(plugin_nh, costmap_plugin_nh, "frustum_min_range", frustum_min_range);
move_parameter(plugin_nh, costmap_plugin_nh, "frustum_max_range", frustum_max_range);
move_parameter(plugin_nh, costmap_plugin_nh, "frustum_depth_camera_topic", frustum_depth_camera_topic);
if(plugin_nh.hasParam("observation_sources"))
{
std::string topics_string;