DuongTD/depth_local_costmap_noetic_test
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test costmap + cam depth

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duongtd
2026-07-21 12:26:51 +07:00
parent 5d734a68fd
commit af99998d2e
11 changed files with 183 additions and 42 deletions
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46
launch/depth_local_costmap_test.launch
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@@ -13,8 +13,6 @@
type="depth_local_costmap_noetic_test_node"
name="depth_local_costmap_noetic_test"
output="screen">
<env name="PNKX_NAV_CORE_CONFIG_DIR" value="$(find depth_local_costmap_noetic_test)"/>
<param name="base_frame" value="$(arg base_frame)"/>
<param name="publish_odom_tf" value="$(arg publish_odom_tf)"/>
<param name="odom_topic" value="$(arg odom_topic)"/>
@@ -26,22 +24,36 @@
<param name="local_costmap/robot_base_frame" value="$(arg base_frame)"/>
<param name="local_costmap/global_frame" value="$(arg global_frame)"/>
<param name="local_costmap/voxel_layer/observation_sources" value="pc_marking pc_clearing"/>
<param name="local_costmap/obstacles/observation_sources" value="pc_marking pc_clearing"/>
<param name="local_costmap/voxel_layer/pc_marking/topic" value="$(arg depth_cloud_topic)"/>
<param name="local_costmap/voxel_layer/pc_marking/data_type" value="PointCloud2"/>
<param name="local_costmap/voxel_layer/pc_marking/clearing" value="false"/>
<param name="local_costmap/voxel_layer/pc_marking/marking" value="true"/>
<param name="local_costmap/voxel_layer/pc_marking/frustum_clearing_enabled" value="false"/>
<param name="local_costmap/obstacles/pc_marking/topic" value="$(arg depth_cloud_topic)"/>
<param name="local_costmap/obstacles/pc_marking/data_type" value="PointCloud2"/>
<param name="local_costmap/obstacles/pc_marking/clearing" value="false"/>
<param name="local_costmap/obstacles/pc_marking/marking" value="true"/>
<param name="local_costmap/obstacles/pc_marking/inf_is_valid" value="false"/>
<param name="local_costmap/obstacles/pc_marking/frustum_clearing_enabled" value="false"/>
<param name="local_costmap/obstacles/pc_marking/observation_persistence" value="0.0"/>
<param name="local_costmap/obstacles/pc_marking/expected_update_rate" value="0.5"/>
<param name="local_costmap/obstacles/pc_marking/obstacle_range" value="2.5"/>
<param name="local_costmap/obstacles/pc_marking/raytrace_range" value="3.0"/>
<param name="local_costmap/obstacles/pc_marking/min_obstacle_height" value="0.1"/>
<param name="local_costmap/obstacles/pc_marking/max_obstacle_height" value="1.0"/>
<param name="local_costmap/voxel_layer/pc_clearing/topic" value="$(arg depth_camera_data_topic)"/>
<param name="local_costmap/voxel_layer/pc_clearing/data_type" value="DepthCameraData"/>
<param name="local_costmap/voxel_layer/pc_clearing/clearing" value="false"/>
<param name="local_costmap/voxel_layer/pc_clearing/marking" value="true"/>
<param name="local_costmap/voxel_layer/pc_clearing/frustum_clearing_enabled" value="true"/>
<param name="local_costmap/voxel_layer/pc_clearing/frustum_clearing_pixel_step" value="8"/>
<param name="local_costmap/voxel_layer/pc_clearing/frustum_min_range" value="0.20"/>
<param name="local_costmap/voxel_layer/pc_clearing/frustum_max_range" value="3.5"/>
<param name="local_costmap/voxel_layer/frustum_depth_camera_topic" value="$(arg depth_camera_data_topic)"/>
<param name="local_costmap/obstacles/pc_clearing/topic" value="$(arg depth_camera_data_topic)"/>
<param name="local_costmap/obstacles/pc_clearing/data_type" value="DepthCameraData"/>
<param name="local_costmap/obstacles/pc_clearing/clearing" value="false"/>
<param name="local_costmap/obstacles/pc_clearing/marking" value="true"/>
<param name="local_costmap/obstacles/pc_clearing/inf_is_valid" value="false"/>
<param name="local_costmap/obstacles/pc_clearing/frustum_clearing_enabled" value="true"/>
<param name="local_costmap/obstacles/pc_clearing/frustum_clearing_pixel_step" value="8"/>
<param name="local_costmap/obstacles/pc_clearing/frustum_min_range" value="0.20"/>
<param name="local_costmap/obstacles/pc_clearing/frustum_max_range" value="3.5"/>
<param name="local_costmap/obstacles/pc_clearing/observation_persistence" value="0.0"/>
<param name="local_costmap/obstacles/pc_clearing/expected_update_rate" value="0.5"/>
<param name="local_costmap/obstacles/pc_clearing/obstacle_range" value="2.5"/>
<param name="local_costmap/obstacles/pc_clearing/raytrace_range" value="3.5"/>
<param name="local_costmap/obstacles/pc_clearing/min_obstacle_height" value="0.1"/>
<param name="local_costmap/obstacles/pc_clearing/max_obstacle_height" value="1.0"/>
<param name="local_costmap/obstacles/frustum_depth_camera_topic" value="$(arg depth_camera_data_topic)"/>
</node>
</launch>