DuongTD/depth_local_costmap_noetic_test
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duongtd
2026-07-24 10:27:56 +07:00
parent c6868282a9
commit dcfc5809cc
9 changed files with 176 additions and 20 deletions
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16
launch/depth_local_costmap_test.launch
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@@ -3,7 +3,7 @@
<arg name="global_frame" default="odom"/>
<arg name="depth_cloud_topic" default="/camera/depth/points_proc"/>
<arg name="enable_depth_cloud_voxel_filter" default="true"/>
<arg name="depth_cloud_voxel_leaf_size" default="0.10"/>
<arg name="depth_cloud_voxel_leaf_size" default="0.05"/>
<arg name="depth_image_topic" default="/camera/depth/image_raw"/>
<arg name="camera_info_topic" default="/camera/depth/camera_info"/>
<arg name="depth_camera_data_topic" default="/camera/depth/data"/>
@@ -11,8 +11,12 @@
<arg name="odom_topic" default="/odom"/>
<arg name="publish_odom_tf" default="false"/>
<arg name="publish_rate" default="5.0"/>
<arg name="rviz" default="true"/>
<arg name="frustum_clearing_pixel_step" default="4"/>
<arg name="local_costmap_update_frequency" default="10.0"/>
<arg name="depth_clearing_processing_rate" default="15.0"/>
<arg name="feeder_performance_metrics_enabled" default="true"/>
<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. -->
@@ -32,7 +36,7 @@
(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"/>
<arg name="column_cover_distance" default="0.2"/>
<node pkg="depth_local_costmap_noetic_test"
type="depth_local_costmap_noetic_test_node"
@@ -41,6 +45,9 @@
<param name="base_frame" value="$(arg base_frame)"/>
<param name="publish_odom_tf" value="$(arg publish_odom_tf)"/>
<param name="publish_rate" value="$(arg publish_rate)"/>
<param name="depth_clearing_processing_rate" value="$(arg depth_clearing_processing_rate)"/>
<param name="feeder_performance_metrics_enabled" value="$(arg feeder_performance_metrics_enabled)"/>
<param name="feeder_performance_metrics_period" value="$(arg feeder_performance_metrics_period)"/>
<param name="odom_topic" value="$(arg odom_topic)"/>
<param name="depth_cloud_topic" value="$(arg depth_cloud_topic)"/>
<param name="enable_depth_cloud_voxel_filter" value="$(arg enable_depth_cloud_voxel_filter)"/>
@@ -52,6 +59,7 @@
<param name="local_costmap/robot_base_frame" value="$(arg base_frame)"/>
<param name="local_costmap/global_frame" value="$(arg global_frame)"/>
<param name="local_costmap/update_frequency" value="$(arg local_costmap_update_frequency)"/>
<param name="local_costmap/obstacles/observation_sources" value="pc_marking pc_clearing"/>
<param name="local_costmap/obstacles/pc_marking/topic" value="$(arg depth_cloud_topic)"/>