DuongTD/costmap_2d
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add file costmap_2d_robot

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duongtd
2025-11-18 11:44:01 +07:00
parent 0c61984d3e
commit 59ec58a018
18 changed files with 203 additions and 101 deletions
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14
plugins/voxel_layer.cpp
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@@ -65,15 +65,15 @@ bool VoxelLayer::getParams()
YAML::Node config = YAML::LoadFile("/home/duongtd/robotics_core/costmap_2d/config/config.yaml");
YAML::Node layer = config["voxel_layer"];
publish_voxel_ = loadParam(layer, "publish_voxel_map", false);
// publish_voxel_ = loadParam(layer, "publish_voxel_map", false);
enabled_ = loadParam(layer, "enabled", true);
footprint_clearing_enabled_ = loadParam(layer, "footprint_clearing_enabled", true);
max_obstacle_height_ = loadParam(layer, "max_obstacle_height", true);
size_z_ = loadParam(layer, "z_voxels", true);
origin_z_ = loadParam(layer, "origin_z", true);
z_resolution_ = loadParam(layer, "z_resolution", true);
unknown_threshold_ = loadParam(layer, "max_obstacle_height", true);
mark_threshold_ = loadParam(layer, "mark_threshold", true);
max_obstacle_height_ = loadParam(layer, "max_obstacle_height", 2.0);
size_z_ = loadParam(layer, "z_voxels", 10);
origin_z_ = loadParam(layer, "origin_z", 0);
z_resolution_ = loadParam(layer, "z_resolution", 0.2);
unknown_threshold_ = loadParam(layer, "max_obstacle_height", 15);
mark_threshold_ = loadParam(layer, "mark_threshold", 0);
combination_method_ = loadParam(layer, "combination_method", true);
this->matchSize();
}