no_raycast.yaml

rog_map:
  resolution: 0.1
  inflation_resolution: 0.2
  inflation_step: 1
  unk_inflation_en: false
  unk_inflation_step: 1
  map_size: [ 50,50,6 ]
  # If the map rolling is disable, the map origin [m] should be set.
  fix_map_origin: [ 0,0,0 ]
  frontier_extraction_en: false

  # Virtual ceil and ground
  virtual_ceil_height: 9999
  virtual_ground_height: -9999

  load_pcd_en: false

  map_sliding:
    enable: true
    # The minimum distance [m] to slide the map.
    threshold: 0.3

  esdf:
    enable: false
    resolution: 0.1
    # The range of esdf around the odom [m].
    local_update_box: [ 5,5,3 ]

  # If [enable = true], the ROG-Map will actively take ros topic as input.
  #  else user should call function [updateMap] to update the map.
  ros_callback:
    enable: true
    cloud_topic: "/cloud_registered"
    odom_topic: "/lidar_slam/odom"
    odom_timeout: 2.0


  visualization:
    enable: true
    # when enabled, use rqt_reconfigure to change the visualization parameters.
    use_dynamic_reconfigure: false
    # The rate of visualization [Hz], if set to 0, the visualization will not be triggered by frame.
    time_rate: 10
    # The frame rate of visualization [Hz], if set to 0, the visualization will not be triggered by frame.
    frame_rate: 0
    # visualization range along the odom [m].
    range: [ 50,50,6 ]
    frame_id: "world"
    pub_unknown_map_en: false

  # Intensity filter for input point cloud. If the point intensity is less than this value,
  # it will be ignored (to avoid noise like dusk).
  intensity_thresh: -10
  # The temporal downsample rate for input point cloud.
  #  e.g. if set to k, the point cloud will be downsampled to 1/k.
  point_filt_num: 5

  # Probabilistc update
  raycasting:
    # if disable, the map will only maintain occupied information, and all other grid
    # will be considered as unknown.
    enable: false
    batch_update_size: 1
    local_update_box: [ 50,50,5 ]
    # The range of raycasting [m].
    ray_range: [ 0.0, 15 ]

    p_min: 0.12
    p_miss: 0.49
    p_free: 0.499
    p_occ: 0.85
    p_hit: 0.9
    p_max: 0.98
    # The threshold of a non-occupied inf map grid to be considered as free. [0.0-1.0]
    # for counter map, if each cell contains N cells in prob map, then only when
    # N_unk > N * unk_thresh cells are unknown, the cell will be considered as unknown.
    # example: 1) if unk_thresh is set 0.0, then once at least one cell in prob map is unknown,
    #             the cell will be considered as unknown.
    #         2) if unk_thresh is set to 1.0, then only all cells in prob map are unknown,
    #             the cell will be considered as unknown.
    # in all, 1.0 is more aggressive while 0.0 is more conservative.
    unk_thresh: 1.0