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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
generate probabilistic occupancy grid map
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
- Yoshi Ri
- Mamoru Sobue
Authors
- Yukihiro Saito
probabilistic_occupancy_grid_map
Purpose
This package outputs the probability of having an obstacle as occupancy grid map.
References/External links
Settings
Occupancy grid map is generated on map_frame
, and grid orientation is fixed.
You may need to choose scan_origin_frame
and gridmap_origin_frame
which means sensor origin and gridmap origin respectively. Especially, set your main LiDAR sensor frame (e.g. velodyne_top
in sample_vehicle) as a scan_origin_frame
would result in better performance.
Each config parameters
Config parameters are managed in config/*.yaml
and here shows its outline.
- Pointcloud based occupancy grid map
Ros param name | Default value |
---|---|
map_frame | “map” |
base_link_frame | “base_link” |
scan_origin_frame | “base_link” |
gridmap_origin_frame | “base_link” |
use_height_filter | true |
enable_single_frame_mode | false |
filter_obstacle_pointcloud_by_raw_pointcloud | false |
map_length | 150.0 [m] |
map_resolution | 0.5 [m] |
use_projection | false |
projection_dz_threshold | 0.01 |
obstacle_separation_threshold | 1.0 |
input_obstacle_pointcloud | true |
input_obstacle_and_raw_pointcloud | true |
- Laserscan based occupancy grid map
Ros param name | Default value |
---|---|
map_length | 150 [m] |
map_width | 150 [m] |
map_resolution | 0.5 [m] |
use_height_filter | true |
enable_single_frame_mode | false |
map_frame | “map” |
base_link_frame | “base_link” |
scan_origin_frame | “base_link” |
gridmap_origin_frame | “base_link” |
Other parameters
Additional argument is shown below:
Name | Default | Description |
---|---|---|
use_multithread |
false |
whether to use multithread |
use_intra_process |
false |
|
map_origin |
`` | parameter to override map_origin_frame which means grid map origin |
scan_origin |
`` | parameter to override scan_origin_frame which means scanning center |
output |
occupancy_grid |
output name |
use_pointcloud_container |
false |
|
container_name |
occupancy_grid_map_container |
|
input_obstacle_pointcloud |
false |
only for laserscan based method. If true, the node subscribe obstacle pointcloud |
input_obstacle_and_raw_pointcloud |
true |
only for laserscan based method. If true, the node subscribe both obstacle and raw pointcloud |
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
No direct system dependencies.
Dependant Packages
Launch files
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged probabilistic_occupancy_grid_map at Robotics Stack Exchange
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