DuongTD/depth_local_costmap_noetic_test
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duongtd
2026-07-23 16:12:23 +07:00
parent 490c24616b
commit c6868282a9
4 changed files with 39 additions and 27 deletions
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16
launch/depth_local_costmap_test.launch
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@@ -28,6 +28,10 @@
<arg name="frustum_column_clearing" default="true"/>
<arg name="column_clear_min_height" default="0.10"/>
<arg name="column_clear_max_height" default="-1.0"/>
<!-- Column beams stop this far [m] before the nearest in-band return
(tighter than frustum_skip_distance so ghosts hugging static obstacles
still get cleared). -->
<arg name="column_skip_distance" default="0.02"/>
<arg name="column_cover_distance" default="-1.0"/>
<node pkg="depth_local_costmap_noetic_test"
@@ -81,11 +85,13 @@
<param name="local_costmap/obstacles/frustum_depth_camera_topic" value="$(arg depth_camera_data_topic)"/>
<param name="local_costmap/obstacles/obstacle_decay_time" value="$(arg obstacle_decay_time)"/>
<param name="local_costmap/obstacles/frustum_skip_distance" value="$(arg frustum_skip_distance)"/>
<param name="local_costmap/obstacles/frustum_column_clearing" value="$(arg frustum_column_clearing)"/>
<param name="local_costmap/obstacles/column_clear_min_height" value="$(arg column_clear_min_height)"/>
<param name="local_costmap/obstacles/column_clear_max_height" value="$(arg column_clear_max_height)"/>
<param name="local_costmap/obstacles/column_cover_distance" value="$(arg column_cover_distance)"/>
<!-- depth frustum / column clearing is per observation source -->
<param name="local_costmap/obstacles/pc_clearing/frustum_skip_distance" value="$(arg frustum_skip_distance)"/>
<param name="local_costmap/obstacles/pc_clearing/frustum_column_clearing" value="$(arg frustum_column_clearing)"/>
<param name="local_costmap/obstacles/pc_clearing/column_clear_min_height" value="$(arg column_clear_min_height)"/>
<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="$(arg column_cover_distance)"/>
</node>
<node if="$(arg rviz)"