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rrt_example.yaml
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rrt_example.yaml
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#############################################
# Mapping #
#############################################
# The points [out of local map] is considered to be [OUT_OF_MAP]
# The points [out of virtual ceil or ground] is considered to be [OCCUPIED]
rrt_star:
visualize_process_en: true
steer_length: 0.5
search_radius: 2
max_tree_node_nums: 10000
use_informed_sampling: true
use_GUILD_sampling: false
example_start: [ 21.449558, -4.462363, 0.920002 ]
example_goal: [ -9.333686, -3.851157, 0.300000 ]
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: true
# Virtual ceil and ground
virtual_ceil_height: 9999
virtual_ground_height: -9999
load_pcd_en: true
# pcd_name: "/home/yunfan/Workspace/rog_ws/src/ROG-Map/examples/rog_map_example/PCD/small_forest_002.pcd"
map_sliding:
enable: true
# The minimum distance [m] to slide the map.
threshold: 0.3
esdf:
enable: true
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: true
batch_update_size: 1
local_update_box: [ 50,50,5 ]
# The range of raycasting [m].
ray_range: [ 0.0, 999 ]
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