Skip to content

Use fixed thresholds for Trinary yaml (backport #5278) #5286

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
SteveMacenski merged 1 commit into from
Jun 18, 2025
Merged

Use fixed thresholds for Trinary yaml (backport #5278) #5286

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 12 additions & 2 deletions nav2_map_server/src/map_io.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -601,8 +601,18 @@ void tryWriteMapToFile(
e << YAML::Key << "origin" << YAML::Flow << YAML::BeginSeq << map.info.origin.position.x <<
map.info.origin.position.y << yaw << YAML::EndSeq;
e << YAML::Key << "negate" << YAML::Value << 0;
e << YAML::Key << "occupied_thresh" << YAML::Value << save_parameters.occupied_thresh;
e << YAML::Key << "free_thresh" << YAML::Value << save_parameters.free_thresh;

if (save_parameters.mode == MapMode::Trinary) {
// For Trinary mode, the thresholds depend on the pixel values in the saved map,
// not on the thresholds used to threshold the map.
// As these values are fixed above, the thresholds must also be fixed to separate the
// pixel values into occupied, free and unknown.
e << YAML::Key << "occupied_thresh" << YAML::Value << 0.65;
e << YAML::Key << "free_thresh" << YAML::Value << 0.196;
} else {
e << YAML::Key << "occupied_thresh" << YAML::Value << save_parameters.occupied_thresh;
e << YAML::Key << "free_thresh" << YAML::Value << save_parameters.free_thresh;
}

if (!e.good()) {
RCLCPP_ERROR_STREAM(
Expand Down
Loading