From 4918b1fe3f3ef732bac5ddf9dc2f49f0f40d8dab Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Mon, 2 Oct 2023 08:39:24 +0200 Subject: [PATCH] update: added stvl layer --- config/nav2_params.yaml | 39 ++++++++++++++++++++++++++++++++++++++- 1 file changed, 38 insertions(+), 1 deletion(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index 3813d09..7cc3aa2 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -546,7 +546,44 @@ global_costmap: footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon resolution: 0.05 track_unknown_space: true - plugins: ["static_layer", "obstacle_layer", "inflation_layer", "denoise_layer"] + plugins: ["static_layer", "obstacle_layer", "inflation_layer", "denoise_layer", "stvl_layer"] + stvl_layer: + plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer" + enabled: true + voxel_decay: 15. + decay_model: 0 + voxel_size: 0.05 + track_unknown_space: true + unknown_threshold: 15 + mark_threshold: 0 + update_footprint_enabled: true + combination_method: 1 + origin_z: 0.0 + publish_voxel_map: true + transform_tolerance: 0.2 + mapping_mode: false + map_save_duration: 60.0 + observation_sources: pointcloud + pointcloud: + data_type: PointCloud2 + topic: /stereo/points + marking: true + clearing: true + obstacle_range: 3.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + expected_update_rate: 0.0 + observation_persistence: 0.0 + inf_is_valid: false + filter: "voxel" + voxel_min_points: 0 + clear_after_reading: true + max_z: 7.0 + min_z: 0.1 + vertical_fov_angle: 0.8745 + horizontal_fov_angle: 1.048 + decay_acceleration: 15.0 + model_type: 0 denoise_layer: plugin: "nav2_costmap_2d::DenoiseLayer" enabled: True