DuongTD/costmap_2d
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

:optimal 27/7 14:45

Browse Source
This commit is contained in:
duongtd
2026-07-27 14:45:26 +07:00
parent ffe2f77c1b
commit c2944f7a98
2 changed files with 9 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/costmap_2d_robot.cpp
View File

@@ -406,6 +406,7 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
double column_clear_max_height = -1.0;
double column_skip_distance = 0.02;
double column_cover_distance = -1.0;
int frustum_clear_left_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);
@@ -429,8 +430,9 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_clear_max_height", column_clear_max_height);
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);
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_clearing_enabled ? "true" : "false", frustum_clearing_pixel_step, frustum_min_range, frustum_max_range);
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);
}
}
}
@@ -477,6 +479,7 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
double column_clear_max_height = -1.0;
double column_skip_distance = 0.02;
double column_cover_distance = -1.0;
int frustum_clear_left_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);
@@ -500,8 +503,9 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_clear_max_height", column_clear_max_height);
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);
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_clearing_enabled ? "true" : "false", frustum_clearing_pixel_step, frustum_min_range, frustum_max_range);
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);
}
}
}