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:optimal test NUC 27/7 15:14

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duongtd
2026-07-27 15:14:39 +07:00
parent c17ac9fc06
commit 9f7e2f82f1
5 changed files with 39 additions and 17 deletions
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8
src/costmap_2d_robot.cpp
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@@ -407,6 +407,7 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
double column_skip_distance = 0.02;
double column_cover_distance = -1.0;
int frustum_clear_left_border_px = 0;
int frustum_clear_right_border_px = 0;
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "topic", topic);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "sensor_frame", sensor_frame);
@@ -431,8 +432,9 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_skip_distance", column_skip_distance);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_cover_distance", column_cover_distance);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_clear_left_border_px", frustum_clear_left_border_px);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_clear_right_border_px", frustum_clear_right_border_px);
robot::log_info("topic: %s data_type: %s clearing: %d marking: %d inf_is_valid: %d min_obstacle_height: %f max_obstacle_height: %f", topic.c_str(), data_type.c_str(), clearing, marking, inf_is_valid, min_obstacle_height, max_obstacle_height);
robot::log_info("frustum_clearing_enabled: %s, frustum_clearing_pixel_step: %d, frustum_min_range: %f, frustum_max_range: %f, frustum_clear_left_border_px: %d", frustum_clearing_enabled ? "true" : "false", frustum_clearing_pixel_step, frustum_min_range, frustum_max_range, frustum_clear_left_border_px);
robot::log_info("frustum_clearing_enabled: %s, frustum_clearing_pixel_step: %d, frustum_min_range: %f, frustum_max_range: %f, frustum_clear_left_border_px: %d, frustum_clear_right_border_px: %d", frustum_clearing_enabled ? "true" : "false", frustum_clearing_pixel_step, frustum_min_range, frustum_max_range, frustum_clear_left_border_px, frustum_clear_right_border_px);
}
}
}
@@ -480,6 +482,7 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
double column_skip_distance = 0.02;
double column_cover_distance = -1.0;
int frustum_clear_left_border_px = 0;
int frustum_clear_right_border_px = 0;
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "topic", topic);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "sensor_frame", sensor_frame);
@@ -504,8 +507,9 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_skip_distance", column_skip_distance);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_cover_distance", column_cover_distance);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_clear_left_border_px", frustum_clear_left_border_px);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_clear_right_border_px", frustum_clear_right_border_px);
robot::log_info("topic: %s data_type: %s clearing: %d marking: %d inf_is_valid: %d min_obstacle_height: %f max_obstacle_height: %f", topic.c_str(), data_type.c_str(), clearing, marking, inf_is_valid, min_obstacle_height, max_obstacle_height);
robot::log_info("frustum_clearing_enabled: %s, frustum_clearing_pixel_step: %d, frustum_min_range: %f, frustum_max_range: %f, frustum_clear_left_border_px: %d", frustum_clearing_enabled ? "true" : "false", frustum_clearing_pixel_step, frustum_min_range, frustum_max_range, frustum_clear_left_border_px);
robot::log_info("frustum_clearing_enabled: %s, frustum_clearing_pixel_step: %d, frustum_min_range: %f, frustum_max_range: %f, frustum_clear_left_border_px: %d, frustum_clear_right_border_px: %d", frustum_clearing_enabled ? "true" : "false", frustum_clearing_pixel_step, frustum_min_range, frustum_max_range, frustum_clear_left_border_px, frustum_clear_right_border_px);
}
}
}