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Parameters for the new range_sensor_layer

asked 2014-07-28 11:20:46 -0500

adreno gravatar image

Hi,

Can someone please give an example of how to set the costmap parameters for the range_sensor_layer, recently added in Hydro ? (as of now, I am using IR sensors converted into a single cloud, but facing problems as the obstacles are not clearing up)

Thanks!

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answered 2014-07-30 02:31:33 -0500

jorge gravatar image

An example configuration. Assuming you have, let's say, 3 sonars publishing sensor_msgs/Range messages on /mobile_base/sensors/sonars/sonar1, /mobile_base/sensors/sonars/sonar2 and /mobile_base/sensors/sonars/sonar3:

costmap_common_params.yaml

robot_radius: 0.18

inflation_layer:
...
obstacle_layer:
...

range_sensor_layer:
  clear_threshold:    0.46
  mark_threshold:     0.98
  no_readings_timeout: 2.0
  ns:     /mobile_base/sensors/sonars
  topics: ["sonar1", "sonar2", "sonar3"]

and in local_costmap_params.yaml (and global_costmap_params.yaml, if you want to use the sonars also in the global costmap):

...
plugins:
  - {name: range_sensor_layer, type: "range_sensor_layer::RangeSensorLayer"}
     .... # any other plugins you use, typically:
  - {name: obstacle_layer,     type: "costmap_2d::VoxelLayer"}
  - {name: inflation_layer,    type: "costmap_2d::InflationLayer"}
  - {name: footprint_layer,    type: "costmap_2d::FootprintLayer"}

Hope this helps.

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Thanks..it is helpful!

adreno gravatar image adreno  ( 2014-07-31 11:33:30 -0500 )edit

Cool. Please set the question as correctly answered so it gets more informative for other people

jorge gravatar image jorge  ( 2014-07-31 12:00:35 -0500 )edit

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Asked: 2014-07-28 11:20:46 -0500

Seen: 1,021 times

Last updated: Jul 30 '14