git commit -m "first commit"

navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToLinesDBSRANSAC.cfg

@@ -0,0 +1,54 @@
+#!/usr/bin/env python
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+# For integers and doubles:
+#       Name                    Type      Reconfiguration level
+#       Description
+#       Default  Min  Max
+
+
+gen.add("cluster_max_distance", double_t, 0, 
+	"Parameter for DB_Scan, maximum distance to neighbors [m]",
+	0.4, 0.0, 10.0)
+
+gen.add("cluster_min_pts", int_t, 0, 
+	"Parameter for DB_Scan: minimum number of points that define a cluster",
+	2, 1, 20)
+
+gen.add("cluster_max_pts", int_t, 0, 
+  "Parameter for DB_Scan: maximum number of points that define a cluster (limit cluster size to avoid large L- and U-shapes)",
+  30, 2, 200)
+
+gen.add("ransac_inlier_distance", double_t, 0, 
+	"Maximum distance to the line segment for inliers",
+	0.2, 0.0, 10.0)
+
+gen.add("ransac_min_inliers", int_t, 0, 
+	"Minimum numer of inliers required to form a line",
+	10, 0, 100)
+
+gen.add("ransac_no_iterations", int_t, 0, 
+	"Number of ransac iterations",
+	2000, 1, 10000)
+
+gen.add("ransac_remainig_outliers", int_t, 0, 
+	"Repeat ransac until the number of outliers is as specified here",
+	3, 0, 50)
+
+gen.add("ransac_convert_outlier_pts",   bool_t,   0, 
+	"Convert remaining outliers to single points.",
+	True)
+
+gen.add("ransac_filter_remaining_outlier_pts",   bool_t,   0, 
+	"Filter the interior of remaining outliers and keep only keypoints of their convex hull",
+	False)
+
+gen.add("convex_hull_min_pt_separation",   double_t,   0,
+	"Clear keypoints of the convex polygon that are close to each other [distance in meters] (0: keep all)",
+	0.1, 0.0, 10.0)	
+
+
+exit(gen.generate("costmap_converter", "standalone_converter", "CostmapToLinesDBSRANSAC"))