DuongTD/costmap_2d
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add function computeCost file layer.h

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duongtd
2026-07-10 11:27:20 +07:00
parent 2fcd211ccf
commit a2a021c114
10 changed files with 1355 additions and 26 deletions
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20
src/costmap_2d_robot.cpp
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@@ -378,15 +378,25 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
bool clearing;
bool marking;
bool inf_is_valid;
std::string sensor_frame;
double observation_persistence;
double expected_update_rate;
double min_obstacle_height;
double max_obstacle_height;
double obstacle_range;
double raytrace_range;
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "topic", topic);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "sensor_frame", sensor_frame);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "observation_persistence", observation_persistence);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "expected_update_rate", expected_update_rate);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "data_type", data_type);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "clearing", clearing);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "marking", marking);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "inf_is_valid", inf_is_valid);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "min_obstacle_height", min_obstacle_height);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "max_obstacle_height", max_obstacle_height);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "obstacle_range", obstacle_range);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "raytrace_range", raytrace_range);
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);
}
}
@@ -417,15 +427,25 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
bool clearing;
bool marking;
bool inf_is_valid;
std::string sensor_frame;
double observation_persistence;
double expected_update_rate;
double min_obstacle_height;
double max_obstacle_height;
double obstacle_range;
double raytrace_range;
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "topic", topic);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "sensor_frame", sensor_frame);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "observation_persistence", observation_persistence);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "expected_update_rate", expected_update_rate);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "data_type", data_type);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "clearing", clearing);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "marking", marking);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "inf_is_valid", inf_is_valid);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "min_obstacle_height", min_obstacle_height);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "max_obstacle_height", max_obstacle_height);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "obstacle_range", obstacle_range);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "raytrace_range", raytrace_range);
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);
}
}