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 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)

• Fix test names (#202)
• Install sample files and nodes for demo (#201)
• Contributors: Atsushi Watanabe

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