costmap 用layer的设置方法

最新推荐文章于 2023-06-01 08:20:35 发布

转载最新推荐文章于 2023-06-01 08:20:35 发布 · 1.8k 阅读

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本文详细解析了ROS中Costmap的配置文件，包括全局和局部成本地图的设置，重点介绍了不同插件的作用及其配置参数，如StaticLayer、VoxelLayer、InflationLayer和RangeSensorLayer等，对于理解机器人路径规划中的障碍物检测与规避具有重要意义。

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plugins:
  - {name: static_layer, type: "costmap_2d::StaticLayer"}
  - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
  - {name: sonar_layer,   type: "range_sensor_layer::RangeSensorLayer"}

  #Configuration for the sensors that the costmap will use to update a map
  obstacle_layer:
    observation_sources: base_scan
    base_scan: {data_type: LaserScan, sensor_frame: /base_laser_link, topic: /base_scan, expected_update_rate: 0.4,
      observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}

  sonar_layer:
    topics: ["/sonar"]
    no_readings_timeout: 1.0

上面是global 下面是local

plugins:
  - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
  - {name: sonar_layer,   type: "range_sensor_layer::RangeSensorLayer"}
  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

  #Configuration for the sensors that the costmap will use to update a map   
  obstacle_layer:
    observation_sources: base_scan
    base_scan: {data_type: LaserScan, sensor_frame: /base_laser_link, topic: /base_scan, expected_update_rate: 0.4,
      observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}

  sonar_layer:
    topics: ["/sonar"]
    no_readings_timeout: 1.0

(Actually only wanted to comment, but that always disappears..)

Did you check your configuration with rosparam? It is not clear for me from your paste, because in local_costmap_params.yaml the sonar_layer is in the obstacle_layer namespace, in global_costmap_params.yaml it is not

move the sonar_layer before the inflation layer.

这个plugin的先后顺序还有影响的啊。。