otimal

config/config/costmap_common_params.yaml

@@ -30,9 +30,15 @@ obstacles:
     marking: true
     inf_is_valid: false
     frustum_clearing_enabled: true
-    frustum_clearing_pixel_step: 4
+    frustum_clearing_pixel_step: 2
     frustum_min_range: 0.20
     frustum_max_range: 3.5
+    frustum_skip_distance: 0.05
+    frustum_column_clearing: true
+    column_clear_min_height: 0.10
+    column_clear_max_height: -1.0
+    column_skip_distance: 0.02
+    column_cover_distance: 0.2
     observation_persistence: 0.0
     expected_update_rate: 0.5
     obstacle_range: 2.5

config/config/costmap_local_params.yaml

@@ -4,8 +4,8 @@ local_costmap:
   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
+  update_frequency: 10.0
+  publish_frequency: 5.0
   rolling_window: true
   track_unknown_space: false
   raytrace_range: 3.0

config/config/costmap_params.yaml

@@ -25,7 +25,7 @@ robot_costmap_2d:
   transform_tolerance: 1.0
   performance_metrics_enabled: true
   performance_metrics_period: 5.0
-  update_frequency: 6.0
+  update_frequency: 10.0
   width: 8.0
   height: 8.0
   resolution: 0.05

config/config/obstacle_layer_params.yaml

@@ -30,7 +30,7 @@ obstacle_layer:
     marking: true
     inf_is_valid: false
     frustum_clearing_enabled: true
-    frustum_clearing_pixel_step: 4
+    frustum_clearing_pixel_step: 2
     frustum_min_range: 0.20
     frustum_max_range: 3.5
     # 3D clearing rays stop this far [m] before the measured surface.
@@ -50,7 +50,7 @@ obstacle_layer:
     column_skip_distance: 0.02
     # Full columns only cleared beyond this distance [m] (vertical FOV must
     # cover the whole band). Negative: auto from camera intrinsics + mount.
-    column_cover_distance: -1.0
+    column_cover_distance: 0.2
     observation_persistence: 0.0
     expected_update_rate: 0.5
     obstacle_range: 2.5

config/costmap_common_params.yaml

@@ -30,7 +30,7 @@ obstacles:
     marking: true
     inf_is_valid: false
     frustum_clearing_enabled: true
-    frustum_clearing_pixel_step: 4
+    frustum_clearing_pixel_step: 2
     frustum_min_range: 0.20
     frustum_max_range: 3.5
     frustum_skip_distance: 0.05
@@ -38,7 +38,7 @@ obstacles:
     column_clear_min_height: 0.10
     column_clear_max_height: -1.0
     column_skip_distance: 0.02
-    column_cover_distance: -1.0
+    column_cover_distance: 0.2
     observation_persistence: 0.0
     expected_update_rate: 0.5
     obstacle_range: 2.5

config/costmap_local_params.yaml

@@ -4,8 +4,8 @@ local_costmap:
   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
+  update_frequency: 10.0
+  publish_frequency: 5.0
   rolling_window: true
   track_unknown_space: false
   raytrace_range: 3.0