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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ieiauto/autodrrt.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-09-19 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The costmap_generator package
Additional Links
No additional links.
Maintainers
- Kosuke Takeuchi
- Takamasa Horibe
- Takayuki Murooka
Authors
No additional authors.
costmap_generator
costmap_generator_node
This node reads PointCloud and/or DynamicObjectArray and creates an OccupancyGrid and GridMap. VectorMap(Lanelet2) is optional.
Input topics
| Name | Type | Description |
|---|---|---|
~input/objects |
autoware_auto_perception_msgs::PredictedObjects | predicted objects, for obstacles areas |
~input/points_no_ground |
sensor_msgs::PointCloud2 | ground-removed points, for obstacle areas which can’t be detected as objects |
~input/vector_map |
autoware_auto_mapping_msgs::HADMapBin | vector map, for drivable areas |
~input/scenario |
tier4_planning_msgs::Scenario | scenarios to be activated, for node activation |
Output topics
| Name | Type | Description |
|---|---|---|
~output/grid_map |
grid_map_msgs::GridMap | costmap as GridMap, values are from 0.0 to 1.0 |
~output/occupancy_grid |
nav_msgs::OccupancyGrid | costmap as OccupancyGrid, values are from 0 to 100 |
Output TFs
None
How to launch
-
Execute the command
source install/setup.bashto setup the environment -
Run
ros2 launch costmap_generator costmap_generator.launch.xmlto launch the node
Parameters
| Name | Type | Description |
|---|---|---|
update_rate |
double | timer’s update rate |
activate_by_scenario |
bool | if true, activate by scenario = parking. Otherwise, activate if vehicle is inside parking lot. |
use_objects |
bool | whether using ~input/objects or not |
use_points |
bool | whether using ~input/points_no_ground or not |
use_wayarea |
bool | whether using wayarea from ~input/vector_map or not |
use_parkinglot |
bool | whether using parkinglot from ~input/vector_map or not |
costmap_frame |
string | created costmap’s coordinate |
vehicle_frame |
string | vehicle’s coordinate |
map_frame |
string | map’s coordinate |
grid_min_value |
double | minimum cost for gridmap |
grid_max_value |
double | maximum cost for gridmap |
grid_resolution |
double | resolution for gridmap |
grid_length_x |
int | size of gridmap for x direction |
grid_length_y |
int | size of gridmap for y direction |
grid_position_x |
int | offset from coordinate in x direction |
grid_position_y |
int | offset from coordinate in y direction |
maximum_lidar_height_thres |
double | maximum height threshold for pointcloud data |
minimum_lidar_height_thres |
double | minimum height threshold for pointcloud data |
expand_rectangle_size |
double | expand object’s rectangle with this value |
size_of_expansion_kernel |
int | kernel size for blurring effect on object’s costmap |
Flowchart
@startuml
title onTimer
start
if (scenario is active?) then (yes)
else (no)
stop
endif
:get current pose;
:set the center of costmap to current pose;
if (use wayarea or use parkinglot?) then (yes)
:generate map primitives costmap;
endif
if (use objects?) then (yes)
:generate objects costmap;
endif
if (use points?) then (yes)
:generate points costmap;
endif
:combine costmap;
:publish costmap;
stop
@enduml
CHANGELOG
No CHANGELOG found.
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
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
- launch/costmap_generator.launch.xml
-
- input_objects [default: ~/input/objects]
- input_points_no_ground [default: ~/input/points_no_ground]
- input_lanelet_map [default: ~/input/vector_map]
- input_scenario [default: ~/input/scenario]
- output_grid_map [default: ~/output/grid_map]
- output_occupancy_grid [default: ~/output/occupancy_grid]
- costmap_generator_param_file [default: $(find-pkg-share costmap_generator)/config/costmap_generator.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged costmap_generator at Robotics Stack Exchange
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