DuongTD/costmap_2d
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duongtd
2026-07-23 16:12:55 +07:00
parent 0e84ac53cb
commit c888af3b7c
7 changed files with 170 additions and 132 deletions
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24
src/costmap_2d_robot.cpp
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@@ -400,6 +400,12 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
int frustum_clearing_pixel_step = 8;
double frustum_min_range = 0.2;
double frustum_max_range = 3.0;
double frustum_skip_distance = -1.0;
bool frustum_column_clearing = false;
double column_clear_min_height = 0.10;
double column_clear_max_height = -1.0;
double column_skip_distance = 0.02;
double column_cover_distance = -1.0;
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "topic", topic);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "sensor_frame", sensor_frame);
@@ -417,6 +423,12 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_clearing_pixel_step", frustum_clearing_pixel_step);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_min_range", frustum_min_range);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_max_range", frustum_max_range);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_skip_distance", frustum_skip_distance);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_column_clearing", frustum_column_clearing);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_clear_min_height", column_clear_min_height);
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);
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);
}
@@ -459,6 +471,12 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
int frustum_clearing_pixel_step = 8;
double frustum_min_range = 0.2;
double frustum_max_range = 3.0;
double frustum_skip_distance = -1.0;
bool frustum_column_clearing = false;
double column_clear_min_height = 0.10;
double column_clear_max_height = -1.0;
double column_skip_distance = 0.02;
double column_cover_distance = -1.0;
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "topic", topic);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "sensor_frame", sensor_frame);
@@ -476,6 +494,12 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_clearing_pixel_step", frustum_clearing_pixel_step);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_min_range", frustum_min_range);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_max_range", frustum_max_range);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_skip_distance", frustum_skip_distance);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_column_clearing", frustum_column_clearing);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_clear_min_height", column_clear_min_height);
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);
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);
}