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

:optimal 27/7 13:48

Browse Source
This commit is contained in:
duongtd
2026-07-27 13:48:38 +07:00
parent 4693f71904
commit bdba382139
8 changed files with 56 additions and 187 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
launch/depth_local_costmap_test.launch
View File

@@ -17,10 +17,9 @@
<arg name="feeder_performance_metrics_period" default="5.0"/>
<arg name="rviz" default="false"/>
<arg name="frustum_clearing_pixel_step" default="2"/>
<!-- Camera-only ghost-obstacle handling: LETHAL cells not re-observed for
this many seconds are freed (covers cells outside the current FOV that
frustum clearing can never reach). 0 disables decay. -->
<arg name="obstacle_decay_time" default="4.0"/>
<!-- Time-based decay removed (needed realtime clearing). Clearing is done by
the per-pixel frustum raytracing + full-column clearing every frame. -->
<arg name="obstacle_decay_time" default="0.0"/>
<!-- Clearing rays stop this far [m] before the measured surface. Smaller
than the legacy 2*resolution (0.10) so near-floor / near-wall ghost
cells inside the old skip band still get cleared. -->
@@ -37,6 +36,13 @@
still get cleared). -->
<arg name="column_skip_distance" default="0.02"/>
<arg name="column_cover_distance" default="0.2"/>
<!-- Upper bound [px] on left-edge columns auto-excluded from depth clearing.
The RealSense stereo no-disparity strip is permanently invalid there and
WIDENS as the scene gets closer; each frame the actual leading run of
all-invalid columns is measured and skipped, capped at this value. Set to
the WIDEST black strip observed (when closest to obstacles) + a margin.
0 disables. -->
<arg name="frustum_clear_left_border_px" default="80"/>
<node pkg="depth_local_costmap_noetic_test"
type="depth_local_costmap_noetic_test_node"
@@ -100,6 +106,7 @@
<param name="local_costmap/obstacles/pc_clearing/column_clear_max_height" value="$(arg column_clear_max_height)"/>
<param name="local_costmap/obstacles/pc_clearing/column_skip_distance" value="$(arg column_skip_distance)"/>
<param name="local_costmap/obstacles/pc_clearing/column_cover_distance" value="$(arg column_cover_distance)"/>
<param name="local_costmap/obstacles/pc_clearing/frustum_clear_left_border_px" value="$(arg frustum_clear_left_border_px)"/>
</node>
<node if="$(arg rviz)"