ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.17.2 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/at-wat/neonavigation.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-11-08 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
3-dof configuration space costmap package
Additional Links
No additional links.
Maintainers
- Atsushi Watanabe
Authors
- Atsushi Watanabe
costmap_cspace package
The topic names will be migrated to ROS recommended namespace model.
Set /neonavigation_compatible parameter to 1 to use new topic names.
costmap_3d
costmap_3d node converts 2-D (x, y) OccupancyGrid to 2-D/3-DOF (x, y, yaw) configuration space based on given footprint.
single layer mode (simple version)
Subscribed topics
- map [nav_msgs::OccupancyGrid]
- map_overlay [nav_msgs::OccupancyGrid]
Published topics
- ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
- ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
- ~/footprint [geometry_msgs::PolygonStamped]
- ~/debug [sensor_msgs::PointCloud]
Parameters
- “ang_resolution” (int, default: 16)
- “linear_expand” (double, default: 0.2f)
- “linear_spread” (double, default: 0.5f)
- “linear_spread_min_cost” (int, default: 0)
- “unknown_cost” (int, default: 0)
- “overlay_mode” (string, default: std::string(“”))
- “footprint” (?, default: footprint_xml)
multiple layer mode
Subscribed topics
- map [nav_msgs::OccupancyGrid]
- layer name [nav_msgs::OccupancyGrid]: Subscribed topics are named according to the layers parameters
Published topics
- ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
- ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
- ~/footprint [geometry_msgs::PolygonStamped]
- ~/debug [sensor_msgs::PointCloud]
Parameters
- “ang_resolution” (int, default: 16): for root layer
- “linear_expand” (double, default: 0.2f): for root layer
- “linear_spread” (double, default: 0.5f): for root layer
- “linear_spread_min_cost” (int, default: 0)
- “footprint” (?, default: footprint_xml): for root layer
- “static_layers”: array of layer configurations
- “layers”: array of layer configurations
Each layer configuration contains:
- “name” (string) layer name
- “type” (string) layer type name
- “parameters” layer specific parameters
Available layer types and parameters are:
-
Costmap3dLayerFootprint: Configuration space costmap layer according to the given footprint.
- “linear_expand” (double)
- “linear_spread” (double)
- “linear_spread_min_cost” (int, default: 0)
- “footprint” (?, default: root layer’s footprint)
-
Costmap3dLayerPlain: Costmap layer without considering footpring.
- “linear_expand” (double)
- “linear_spread” (double)
- “linear_spread_min_cost” (int, default: 0)
- Costmap3dLayerOutput: Output generated costmap at this point. In most case, this is placed at the last layer.
- Costmap3dLayerStopPropagation: Stop propagating parent layer’s cost to the child. This can be used at the beginning of layer to ignore changes in static layers.
-
Costmap3dLayerUnknownHandle: Set unknown cell’s cost.
- “unknown_cost” (int)
See example parameters.
The diagram below shows how “linear_expand”, “linear_spread” and “linear_spread_min_cost” work. “linear_spread_min_cost” can make the costs of grids near obstacles higher to avoid other costs such as preferences overriding the costs of these grids.
laserscan_to_map
stub
pointcloud2_to_map
stub
largemap_to_map
stub
CHANGELOG
Changelog for package costmap_cspace
0.17.2 (2024-11-07)
0.17.1 (2024-03-22)
0.17.0 (2023-11-02)
- costmap_3d: avoid unnecessary grid expansions (#726)
- Contributors: Naotaka Hatao
0.16.0 (2023-09-14)
- costmap_cspace: add linear_spread_min_cost parameter (#719)
- Contributors: Naotaka Hatao
0.15.0 (2023-08-30)
0.14.2 (2023-07-31)
0.14.1 (2023-07-07)
0.14.0 (2023-06-06)
0.13.0 (2023-05-31)
- costmap_cspace: export costmap_3d_layers library (#691)
- costmap_cspace: install all headers (#690)
- costmap_cspace: added update_chain_entry bool arguement to processMapOverlay function (#689)
- costmap_cspace: add costmap_3d_layers library (#688)
- Contributors: ゆうちゃん
0.12.2 (2023-02-28)
0.12.1 (2023-02-25)
0.12.0 (2023-01-30)
0.11.8 (2022-12-28)
0.11.7 (2022-08-05)
0.11.6 (2022-07-20)
- costmap_cspace: fix Costmap3dLayerPlain when its parent is not plain (#641)
- Contributors: Naotaka Hatao
0.11.5 (2022-07-06)
0.11.4 (2022-04-13)
- Divide output layer class into specific classes (#633)
- Contributors: Naotaka Hatao
0.11.3 (2021-12-02)
0.11.2 (2021-11-08)
0.11.1 (2021-10-29)
0.11.0 (2021-08-30)
- Rename PointcloudAccumurator to PointcloudAccumulator (#608)
- Apply clang-format-11 with new setting (#605)
- Contributors: Naotaka Hatao, f-fl0
0.10.11 (2021-06-21)
0.10.10 (2021-03-18)
0.10.9 (2021-03-16)
0.10.8 (2021-03-10)
0.10.7 (2021-03-07)
0.10.6 (2021-01-28)
0.10.5 (2020-12-24)
0.10.4 (2020-11-12)
- costmap_cspace: make Costmap3dLayerPlain and Costmap3dLayerOutput faster (#562)
- Contributors: Naotaka Hatao
0.10.3 (2020-10-22)
- costmap_cspace: make Costmap3dLayerFootprint::generateCSpace faster (#554)
- costmap_cspace: add test for keeping unknown mode (#555)
- Contributors: Naotaka Hatao
0.10.2 (2020-10-07)
- costmap_cspace: enable func to remove objects out of z range (#551)
- Contributors: Tatsuroh Sakaguchi
0.10.1 (2020-08-26)
0.10.0 (2020-08-06)
0.9.1 (2020-07-16)
0.9.0 (2020-07-02)
0.8.8 (2020-06-15)
0.8.7 (2020-05-22)
0.8.6 (2020-05-15)
0.8.5 (2020-05-04)
0.8.4 (2020-04-30)
- Clean unused dependencies (#472)
- Contributors: Atsushi Watanabe
0.8.3 (2020-04-26)
0.8.2 (2020-04-07)
- Support Noetic (#461)
- Contributors: Atsushi Watanabe
0.8.1 (2020-03-12)
0.8.0 (2020-03-04)
0.7.0 (2020-02-04)
0.6.0 (2020-01-18)
0.5.1 (2020-01-06)
- Fix header namespaces (#408)
- Migrate from C math functions to C++ (#407)
- Contributors: Atsushi Watanabe
0.5.0 (2019-10-21)
- costmap_cspace: fix unknown handling (#392)
- Contributors: Atsushi Watanabe
0.4.3 (2019-09-10)
- costmap_cspace: fix memory corruption (#381)
- Contributors: Atsushi Watanabe
0.4.2 (2019-08-19)
0.4.1 (2019-08-15)
- costmap_cspace: fix costmap output for out-of-boundary overlay map (#361)
- Drop ROS Indigo and Ubuntu Trusty support (#310)
- Fix include directory priority (#308)
- planner_cspace, costmap_cspace: minor refactoring (#305)
- Contributors: Atsushi Watanabe
0.4.0 (2019-05-09)
- costmap_cspace: add const begin/end to PointcloudAccumurator (#294)
- Contributors: Naotaka Hatao
0.3.1 (2019-01-10)
- Fix pointer alignment style (#233)
- Migrate tf to tf2 (#230)
- Fix catkin package definitions (#206)
- Contributors: Atsushi Watanabe, So Jomura
0.2.3 (2018-07-19)
0.2.2 (2018-07-17)
0.2.1 (2018-07-14)
- Fix missing package dependencies (#194)
- Contributors: Atsushi Watanabe
0.2.0 (2018-07-12)
- Fix build on Indigo (#180)
- Fix namespace migration messages (#174)
- Fix topic/service namespace model (#168)
- Fix package dependencies (#167)
- Fix naming styles (#166)
- Update package descriptions and unify license and version (#165)
- Use neonavigation_msgs package (#164)
- costmap_cspace: add StopPropagation layer (#153)
- costmap_cspace: install header files (#155)
- costmap_cspace: fix layer order handling from the parameter (#154)
- costmap_cspace: clear update region on output layer (#139)
- costmap_cspace: clear previous position on overlay map (#135)
- Add integration demo (#133)
- costmap_cspace: add unknown handler layer (#132)
- costmap_cspace: memory access optimizations (#131)
- costmap_cspace: keep overlay maps which arrived before base map (#124)
- costmap_cspace: always store received overlay map (#109)
- costmap_cspace: make static layers configurable (#108)
- costmap_cspace: make costmap layer structure configurable (#106)
- costmap_cspace: refactor CSpace3Cache class (#105)
- costmap_cspace: add stacked costmap class (#104)
- costmap_cspace: remove retval of setFootprint (#103)
- costmap_cspace: move XML-polygon conversion into Polygon class (#102)
- costmap cspace: add layer type check (#101)
- costmap_cspace: refactor costmap layer classes (#100)
- costmap_cspace: make costmap layers stackable (#99)
- costmap_cspace: make cspace template customizable (#96)
- costmap_cspace: hold CSpace3D object as shared_ptr (#95)
- Suppress compile warnings and test with -Werror. (#82)
- costmap_cspace: fix frame of z-filter in pointcloud2_to_map. (#80)
- costmap_cspace: fix angular grid accessor before receiving the first map.
- Add missing dep to xmlrpcpp. (#52)
- Remove dummy dep to system_lib. (#51)
- costmap_cspace: adds unit tests. (#48)
- costmap_cspace: fixes memory access error on global map boundary. (#49)
- costmap_cspace: refactors costmap_cspace package. (#47)
- Support package install. (#45)
- costmap_cspace: pointcloud2_to_map: adds singleshot data input (#41)
- Fix coding styles. (#39)
- costmap_cspace: add pointcloud2_to_map node. (#35)
- costmap_cspace: laserscan_to_map: accumerate scans. (#34)
- costmap_cspace: adds laserscan_to_map node. (#33)
- adds READMEs (#11)
- costmap_cspace, planner_cspace: fixes pkg dependencies
- changes planner and costmap package names with a postfix _cspace
- Contributors: Atsushi Watanabe
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| roslint | |
| rostest | |
| roscpp | |
| geometry_msgs | |
| laser_geometry | |
| nav_msgs | |
| sensor_msgs | |
| tf2_geometry_msgs | |
| tf2_ros | |
| tf2_sensor_msgs | |
| costmap_cspace_msgs | |
| neonavigation_common | |
| xmlrpcpp |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| neonavigation | |
| neonavigation_launch | |
| planner_cspace |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged costmap_cspace at Robotics Stack Exchange
No version for distro galactic. Known supported distros are highlighted in the buttons above.
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.17.2 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/at-wat/neonavigation.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-11-08 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
3-dof configuration space costmap package
Additional Links
No additional links.
Maintainers
- Atsushi Watanabe
Authors
- Atsushi Watanabe
costmap_cspace package
The topic names will be migrated to ROS recommended namespace model.
Set /neonavigation_compatible parameter to 1 to use new topic names.
costmap_3d
costmap_3d node converts 2-D (x, y) OccupancyGrid to 2-D/3-DOF (x, y, yaw) configuration space based on given footprint.
single layer mode (simple version)
Subscribed topics
- map [nav_msgs::OccupancyGrid]
- map_overlay [nav_msgs::OccupancyGrid]
Published topics
- ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
- ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
- ~/footprint [geometry_msgs::PolygonStamped]
- ~/debug [sensor_msgs::PointCloud]
Parameters
- “ang_resolution” (int, default: 16)
- “linear_expand” (double, default: 0.2f)
- “linear_spread” (double, default: 0.5f)
- “linear_spread_min_cost” (int, default: 0)
- “unknown_cost” (int, default: 0)
- “overlay_mode” (string, default: std::string(“”))
- “footprint” (?, default: footprint_xml)
multiple layer mode
Subscribed topics
- map [nav_msgs::OccupancyGrid]
- layer name [nav_msgs::OccupancyGrid]: Subscribed topics are named according to the layers parameters
Published topics
- ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
- ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
- ~/footprint [geometry_msgs::PolygonStamped]
- ~/debug [sensor_msgs::PointCloud]
Parameters
- “ang_resolution” (int, default: 16): for root layer
- “linear_expand” (double, default: 0.2f): for root layer
- “linear_spread” (double, default: 0.5f): for root layer
- “linear_spread_min_cost” (int, default: 0)
- “footprint” (?, default: footprint_xml): for root layer
- “static_layers”: array of layer configurations
- “layers”: array of layer configurations
Each layer configuration contains:
- “name” (string) layer name
- “type” (string) layer type name
- “parameters” layer specific parameters
Available layer types and parameters are:
-
Costmap3dLayerFootprint: Configuration space costmap layer according to the given footprint.
- “linear_expand” (double)
- “linear_spread” (double)
- “linear_spread_min_cost” (int, default: 0)
- “footprint” (?, default: root layer’s footprint)
-
Costmap3dLayerPlain: Costmap layer without considering footpring.
- “linear_expand” (double)
- “linear_spread” (double)
- “linear_spread_min_cost” (int, default: 0)
- Costmap3dLayerOutput: Output generated costmap at this point. In most case, this is placed at the last layer.
- Costmap3dLayerStopPropagation: Stop propagating parent layer’s cost to the child. This can be used at the beginning of layer to ignore changes in static layers.
-
Costmap3dLayerUnknownHandle: Set unknown cell’s cost.
- “unknown_cost” (int)
See example parameters.
The diagram below shows how “linear_expand”, “linear_spread” and “linear_spread_min_cost” work. “linear_spread_min_cost” can make the costs of grids near obstacles higher to avoid other costs such as preferences overriding the costs of these grids.
laserscan_to_map
stub
pointcloud2_to_map
stub
largemap_to_map
stub
CHANGELOG
Changelog for package costmap_cspace
0.17.2 (2024-11-07)
0.17.1 (2024-03-22)
0.17.0 (2023-11-02)
- costmap_3d: avoid unnecessary grid expansions (#726)
- Contributors: Naotaka Hatao
0.16.0 (2023-09-14)
- costmap_cspace: add linear_spread_min_cost parameter (#719)
- Contributors: Naotaka Hatao
0.15.0 (2023-08-30)
0.14.2 (2023-07-31)
0.14.1 (2023-07-07)
0.14.0 (2023-06-06)
0.13.0 (2023-05-31)
- costmap_cspace: export costmap_3d_layers library (#691)
- costmap_cspace: install all headers (#690)
- costmap_cspace: added update_chain_entry bool arguement to processMapOverlay function (#689)
- costmap_cspace: add costmap_3d_layers library (#688)
- Contributors: ゆうちゃん
0.12.2 (2023-02-28)
0.12.1 (2023-02-25)
0.12.0 (2023-01-30)
0.11.8 (2022-12-28)
0.11.7 (2022-08-05)
0.11.6 (2022-07-20)
- costmap_cspace: fix Costmap3dLayerPlain when its parent is not plain (#641)
- Contributors: Naotaka Hatao
0.11.5 (2022-07-06)
0.11.4 (2022-04-13)
- Divide output layer class into specific classes (#633)
- Contributors: Naotaka Hatao
0.11.3 (2021-12-02)
0.11.2 (2021-11-08)
0.11.1 (2021-10-29)
0.11.0 (2021-08-30)
- Rename PointcloudAccumurator to PointcloudAccumulator (#608)
- Apply clang-format-11 with new setting (#605)
- Contributors: Naotaka Hatao, f-fl0
0.10.11 (2021-06-21)
0.10.10 (2021-03-18)
0.10.9 (2021-03-16)
0.10.8 (2021-03-10)
0.10.7 (2021-03-07)
0.10.6 (2021-01-28)
0.10.5 (2020-12-24)
0.10.4 (2020-11-12)
- costmap_cspace: make Costmap3dLayerPlain and Costmap3dLayerOutput faster (#562)
- Contributors: Naotaka Hatao
0.10.3 (2020-10-22)
- costmap_cspace: make Costmap3dLayerFootprint::generateCSpace faster (#554)
- costmap_cspace: add test for keeping unknown mode (#555)
- Contributors: Naotaka Hatao
0.10.2 (2020-10-07)
- costmap_cspace: enable func to remove objects out of z range (#551)
- Contributors: Tatsuroh Sakaguchi
0.10.1 (2020-08-26)
0.10.0 (2020-08-06)
0.9.1 (2020-07-16)
0.9.0 (2020-07-02)
0.8.8 (2020-06-15)
0.8.7 (2020-05-22)
0.8.6 (2020-05-15)
0.8.5 (2020-05-04)
0.8.4 (2020-04-30)
- Clean unused dependencies (#472)
- Contributors: Atsushi Watanabe
0.8.3 (2020-04-26)
0.8.2 (2020-04-07)
- Support Noetic (#461)
- Contributors: Atsushi Watanabe
0.8.1 (2020-03-12)
0.8.0 (2020-03-04)
0.7.0 (2020-02-04)
0.6.0 (2020-01-18)
0.5.1 (2020-01-06)
- Fix header namespaces (#408)
- Migrate from C math functions to C++ (#407)
- Contributors: Atsushi Watanabe
0.5.0 (2019-10-21)
- costmap_cspace: fix unknown handling (#392)
- Contributors: Atsushi Watanabe
0.4.3 (2019-09-10)
- costmap_cspace: fix memory corruption (#381)
- Contributors: Atsushi Watanabe
0.4.2 (2019-08-19)
0.4.1 (2019-08-15)
- costmap_cspace: fix costmap output for out-of-boundary overlay map (#361)
- Drop ROS Indigo and Ubuntu Trusty support (#310)
- Fix include directory priority (#308)
- planner_cspace, costmap_cspace: minor refactoring (#305)
- Contributors: Atsushi Watanabe
0.4.0 (2019-05-09)
- costmap_cspace: add const begin/end to PointcloudAccumurator (#294)
- Contributors: Naotaka Hatao
0.3.1 (2019-01-10)
- Fix pointer alignment style (#233)
- Migrate tf to tf2 (#230)
- Fix catkin package definitions (#206)
- Contributors: Atsushi Watanabe, So Jomura
0.2.3 (2018-07-19)
0.2.2 (2018-07-17)
0.2.1 (2018-07-14)
- Fix missing package dependencies (#194)
- Contributors: Atsushi Watanabe
0.2.0 (2018-07-12)
- Fix build on Indigo (#180)
- Fix namespace migration messages (#174)
- Fix topic/service namespace model (#168)
- Fix package dependencies (#167)
- Fix naming styles (#166)
- Update package descriptions and unify license and version (#165)
- Use neonavigation_msgs package (#164)
- costmap_cspace: add StopPropagation layer (#153)
- costmap_cspace: install header files (#155)
- costmap_cspace: fix layer order handling from the parameter (#154)
- costmap_cspace: clear update region on output layer (#139)
- costmap_cspace: clear previous position on overlay map (#135)
- Add integration demo (#133)
- costmap_cspace: add unknown handler layer (#132)
- costmap_cspace: memory access optimizations (#131)
- costmap_cspace: keep overlay maps which arrived before base map (#124)
- costmap_cspace: always store received overlay map (#109)
- costmap_cspace: make static layers configurable (#108)
- costmap_cspace: make costmap layer structure configurable (#106)
- costmap_cspace: refactor CSpace3Cache class (#105)
- costmap_cspace: add stacked costmap class (#104)
- costmap_cspace: remove retval of setFootprint (#103)
- costmap_cspace: move XML-polygon conversion into Polygon class (#102)
- costmap cspace: add layer type check (#101)
- costmap_cspace: refactor costmap layer classes (#100)
- costmap_cspace: make costmap layers stackable (#99)
- costmap_cspace: make cspace template customizable (#96)
- costmap_cspace: hold CSpace3D object as shared_ptr (#95)
- Suppress compile warnings and test with -Werror. (#82)
- costmap_cspace: fix frame of z-filter in pointcloud2_to_map. (#80)
- costmap_cspace: fix angular grid accessor before receiving the first map.
- Add missing dep to xmlrpcpp. (#52)
- Remove dummy dep to system_lib. (#51)
- costmap_cspace: adds unit tests. (#48)
- costmap_cspace: fixes memory access error on global map boundary. (#49)
- costmap_cspace: refactors costmap_cspace package. (#47)
- Support package install. (#45)
- costmap_cspace: pointcloud2_to_map: adds singleshot data input (#41)
- Fix coding styles. (#39)
- costmap_cspace: add pointcloud2_to_map node. (#35)
- costmap_cspace: laserscan_to_map: accumerate scans. (#34)
- costmap_cspace: adds laserscan_to_map node. (#33)
- adds READMEs (#11)
- costmap_cspace, planner_cspace: fixes pkg dependencies
- changes planner and costmap package names with a postfix _cspace
- Contributors: Atsushi Watanabe
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| roslint | |
| rostest | |
| roscpp | |
| geometry_msgs | |
| laser_geometry | |
| nav_msgs | |
| sensor_msgs | |
| tf2_geometry_msgs | |
| tf2_ros | |
| tf2_sensor_msgs | |
| costmap_cspace_msgs | |
| neonavigation_common | |
| xmlrpcpp |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| neonavigation | |
| neonavigation_launch | |
| planner_cspace |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.