20 lines
1.4 KiB
Plaintext
Executable File
20 lines
1.4 KiB
Plaintext
Executable File
uint8 LOCAL_COSTMAP = 1
|
|
uint8 GLOBAL_COSTMAP = 2
|
|
|
|
geometry_msgs/PoseStamped pose # the pose to be checked after transforming to costmap frame
|
|
float32 safety_dist # minimum distance allowed to the closest obstacle
|
|
float32 lethal_cost_mult # cost multiplier for cells marked as lethal obstacle (zero is ignored)
|
|
float32 inscrib_cost_mult # cost multiplier for cells marked as inscribed obstacle (zero is ignored)
|
|
float32 unknown_cost_mult # cost multiplier for cells marked as unknown space (zero is ignored)
|
|
uint8 costmap # costmap in which to check the pose
|
|
bool current_pose # check current robot pose instead (ignores pose field)
|
|
---
|
|
uint8 FREE = 0 # robot is completely in traversable space
|
|
uint8 INSCRIBED = 1 # robot is partially in inscribed space
|
|
uint8 LETHAL = 2 # robot is partially in collision
|
|
uint8 UNKNOWN = 3 # robot is partially in unknown space
|
|
uint8 OUTSIDE = 4 # robot is completely outside the map
|
|
|
|
uint8 state # pose state: FREE, INFLATED, LETHAL, UNKNOWN or OUTSIDE
|
|
uint32 cost # total cost of all cells within footprint padded by safety_dist
|