sonar data as pointcloud2 be added in obstacle_layer, but costmap cannot update immediately

asked 2017-12-22 07:04:43 -0600

lightsalt gravatar image

sonar data as pointcloud2 be added in obstacle_layer, but costmap cannot update , in the mean time , the pointcloud2 already update

anyone can help me, thanks

  observation_sources:  laser_sensor  sonar_sensor
  laser_sensor:
    data_type: LaserScan
    topic: /scan
    marking: true
    clearing: true
#    min_obstacle_height: 0.25
#    max_obstacle_height: 0.35
  rgbd_sensor:
    data_type: PointCloud2
    topic: /camera/depth/points_filtered
    marking: true
    clearing: false
#    min_obstacle_height: 0.0
#    max_obstacle_height: 0.15
  sonar_sensor:
    data_type: PointCloud2
    topic: /sonar_cloudpoint
    marking: true
    clearing: true
    expected_update_rate: 0.0
    observation_persistence: 0.0
    min_obstacle_height: 0.0
    max_obstacle_height: 0.30
  # for debugging only, let's you see the entire voxel grid

image description

edit retag flag offensive close merge delete