From 3f4abd86a4b26956ece1473fbe75d68b2a6ffb4c Mon Sep 17 00:00:00 2001
From: helena <fherrero@iri.upc.edu>
Date: Tue, 23 May 2023 09:19:57 +0200
Subject: [PATCH] Add 3dlidar ground observation_source
---
params/costmap/common_params.yaml | 15 ++++++++++++++-
1 file changed, 14 insertions(+), 1 deletion(-)
diff --git a/params/costmap/common_params.yaml b/params/costmap/common_params.yaml
index d3ab371..cb5d6e8 100644
--- a/params/costmap/common_params.yaml
+++ b/params/costmap/common_params.yaml
@@ -22,7 +22,7 @@ obstacle_layer:
max_obstacle_height: 1.0
footprint_clearing_enabled: false
combination_method: 1
- observation_sources: velodyne #depth_cam
+ observation_sources: velodyne velodyne_ground #depth_cam
velodyne: {
sensor_frame: helena/robosense,
@@ -37,6 +37,19 @@ obstacle_layer:
obstacle_range: 30.0,
raytrace_range: 40.0
}
+ velodyne_ground: {
+ sensor_frame: helena/robosense,
+ data_type: PointCloud2,
+ topic: /helena/sensors/rslidar_points,
+ observation_persistence: 0.0,
+ marking: false,
+ clearing: true,
+ min_obstacle_height: -1.0,
+ max_obstacle_height: 0.05,
+ expected_update_rate: 1,
+ obstacle_range: 30.0,
+ raytrace_range: 40.0
+ }
depth_cam: {
sensor_frame: helena/camera_color_optical_frame,
--
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