DuongTD/costmap_2d
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Merge branch 'main' of https://git.pnkr.asia/DuongTD/costmap_2d into main

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This commit is contained in:
HiepLM 2025-12-24 14:21:14 +07:00
parent 674fb07ad3
commit b807d2c187
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"))
{ {
@ -113,9 +113,6 @@ bool VoxelLayer::getParams(const std::string& config_file_name, robot::NodeHandl
nh.getParam("combination_method", combination_method_); nh.getParam("combination_method", combination_method_);
this->matchSize(); this->matchSize();
} }
catch (const YAML::BadFile& e) { catch (const YAML::BadFile& e) {