test costmap + cam depth 14:38

config/config/costmap_common_params.yaml

@@ -1,12 +1,12 @@
-obstacle_layer:
-  enabled: true
-  track_unknown_space: false
-  transform_tolerance: 1.0
-  footprint_clearing_enabled: true
-  combination_method: 1
+robot_base_frame: base_link
+transform_tolerance: 1.0
+performance_metrics_enabled: true
+performance_metrics_period: 5.0
+obstacle_range: 3.0
+publish_voxel_map: true
+footprint_padding: 0.0
 
-  # Subset of costmap_common_params.yaml for the topics available in this
-  # local depth-camera test.
+obstacles:
   observation_sources: pc_marking pc_clearing
 
   pc_marking:

config/config/costmap_local_params.yaml

@@ -1,33 +1,32 @@
-robot_costmap_2d:
-  # Derived from pnkx_nav_core/config/costmap_local_params.yaml.
-  # NUC path is intentional for the user's local test workspace.
+local_costmap:
+  # Absolute NUC path is intentional for this local test package. It avoids
+  # boost::dll resolving a relative value such as "libplugins" to ./libplugins.
   library_path: /home/robotics/DuongTD/dev_ws/devel/lib/libplugins.so
   global_frame: odom
   robot_base_frame: base_link
+  update_frequency: 6.0
+  publish_frequency: 6.0
   rolling_window: true
   track_unknown_space: false
-
-  plugins:
-    # Derived from costmap_local_params_plugins_no_virtual_walls.yaml.
-    - name: obstacles
-      type: VoxelLayer
-    - name: inflation
-      type: InflationLayer
-
+  raytrace_range: 3.0
+  resolution: 0.05
+  z_resolution: 0.15
+  z_voxels: 8
+  width: 8.0
+  height: 8.0
+  origin_x: 0.0
+  origin_y: 0.0
+  transform_tolerance: 1.0
+  performance_metrics_enabled: true
+  performance_metrics_period: 5.0
+  footprint_padding: 0.0
+  robot_radius: 0.0
   footprint:
     - [0.30, 0.30]
     - [0.30, -0.30]
     - [-0.30, -0.30]
     - [-0.30, 0.30]
 
-  transform_tolerance: 1.0
-  performance_metrics_enabled: true
-  performance_metrics_period: 5.0
-  update_frequency: 6.0
-  width: 8.0
-  height: 8.0
-  resolution: 0.05
-  origin_x: 0.0
-  origin_y: 0.0
-  footprint_padding: 0.0
-  robot_radius: 0.0
+  inflation:
+    cost_scaling_factor: 10.0
+    inflation_radius: 0.3

config/config/costmap_local_params_plugins_no_virtual_walls.yaml

@@ -0,0 +1,12 @@
+local_costmap:
+  frame_id: odom
+  plugins:
+    - {name: obstacles, type: "VoxelLayer"}
+    - {name: inflation, type: "InflationLayer"}
+
+  obstacles:
+    enabled: true
+    footprint_clearing_enabled: true
+
+  inflation:
+    enabled: true

config/costmap_common_params.yaml

@@ -0,0 +1,41 @@
+robot_base_frame: base_link
+transform_tolerance: 1.0
+performance_metrics_enabled: true
+performance_metrics_period: 5.0
+obstacle_range: 3.0
+publish_voxel_map: true
+footprint_padding: 0.0
+
+obstacles:
+  observation_sources: pc_marking pc_clearing
+
+  pc_marking:
+    topic: /camera/depth/points_proc
+    data_type: PointCloud2
+    clearing: false
+    marking: true
+    inf_is_valid: false
+    frustum_clearing_enabled: false
+    observation_persistence: 0.0
+    expected_update_rate: 0.5
+    obstacle_range: 2.5
+    raytrace_range: 3.0
+    min_obstacle_height: 0.1
+    max_obstacle_height: 1.0
+
+  pc_clearing:
+    topic: /camera/depth/data
+    data_type: DepthCameraData
+    clearing: false
+    marking: true
+    inf_is_valid: false
+    frustum_clearing_enabled: true
+    frustum_clearing_pixel_step: 8
+    frustum_min_range: 0.20
+    frustum_max_range: 3.5
+    observation_persistence: 0.0
+    expected_update_rate: 0.5
+    obstacle_range: 2.5
+    raytrace_range: 3.5
+    min_obstacle_height: 0.1
+    max_obstacle_height: 1.0

config/costmap_local_params.yaml

@@ -0,0 +1,32 @@
+local_costmap:
+  # Absolute NUC path is intentional for this local test package. It avoids
+  # boost::dll resolving a relative value such as "libplugins" to ./libplugins.
+  library_path: /home/robotics/DuongTD/dev_ws/devel/lib/libplugins.so
+  global_frame: odom
+  robot_base_frame: base_link
+  update_frequency: 6.0
+  publish_frequency: 6.0
+  rolling_window: true
+  track_unknown_space: false
+  raytrace_range: 3.0
+  resolution: 0.05
+  z_resolution: 0.15
+  z_voxels: 8
+  width: 8.0
+  height: 8.0
+  origin_x: 0.0
+  origin_y: 0.0
+  transform_tolerance: 1.0
+  performance_metrics_enabled: true
+  performance_metrics_period: 5.0
+  footprint_padding: 0.0
+  robot_radius: 0.0
+  footprint:
+    - [0.30, 0.30]
+    - [0.30, -0.30]
+    - [-0.30, -0.30]
+    - [-0.30, 0.30]
+
+  inflation:
+    cost_scaling_factor: 10.0
+    inflation_radius: 0.3

config/costmap_local_params_plugins_no_virtual_walls.yaml

@@ -0,0 +1,12 @@
+local_costmap:
+  frame_id: odom
+  plugins:
+    - {name: obstacles, type: "VoxelLayer"}
+    - {name: inflation, type: "InflationLayer"}
+
+  obstacles:
+    enabled: true
+    footprint_clearing_enabled: true
+
+  inflation:
+    enabled: true

config/inflation_layer_params.yaml

@@ -1,5 +0,0 @@
-inflation_layer:
-  enabled: true
-  inflate_unknown: false
-  cost_scaling_factor: 10.0
-  inflation_radius: 0.30

config/voxel_layer_params.yaml

@@ -1,16 +0,0 @@
-voxel_layer:
-  enabled: true
-  footprint_clearing_enabled: true
-  max_obstacle_height: 1.0
-  origin_z: 0.0
-  z_resolution: 0.15
-  z_voxels: 8
-  unknown_threshold: 15.0
-  mark_threshold: 0
-  combination_method: 1
-  publish_voxel_map: true
-  frustum_clearing_enabled: false
-  frustum_clearing_pixel_step: 8
-  frustum_min_range: 0.20
-  frustum_max_range: 3.5
-  frustum_depth_camera_topic: /camera/depth/data