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costmap_generator#

costmap_generator_node#

This node reads PointCloud and/or DynamicObjectArray and creates an OccupancyGrid and GridMap. VectorMap(Lanelet2) is optional.

Input topics#

Name Type Description
~input/objects autoware_auto_perception_msgs::PredictedObjects predicted objects, for obstacles areas
~input/points_no_ground sensor_msgs::PointCloud2 ground-removed points, for obstacle areas which can't be detected as objects
~input/vector_map autoware_auto_mapping_msgs::HADMapBin vector map, for drivable areas
~input/scenario tier4_planning_msgs::Scenario scenarios to be activated, for node activation

Output topics#

Name Type Description
~output/grid_map grid_map_msgs::GridMap costmap as GridMap, values are from 0.0 to 1.0
~output/occupancy_grid nav_msgs::OccupancyGrid costmap as OccupancyGrid, values are from 0 to 100

Output TFs#

None

How to launch#

  1. Write your remapping info in costmap_generator.launch or add args when executing roslaunch
  2. Run roslaunch costmap_generator costmap_generator.launch

Parameters#

Name Type Description
update_rate double timer's update rate
activate_by_scenario bool if true, activate by scenario = parking. Otherwise, activate if vehicle is inside parking lot.
use_objects bool whether using ~input/objects or not
use_points bool whether using ~input/points_no_ground or not
use_wayarea bool whether using wayarea from ~input/vector_map or not
use_parkinglot bool whether using parkinglot from ~input/vector_map or not
costmap_frame string created costmap's coordinate
vehicle_frame string vehicle's coordinate
map_frame string map's coordinate
grid_min_value double minimum cost for gridmap
grid_max_value double maximum cost for gridmap
grid_resolution double resolution for gridmap
grid_length_x int size of gridmap for x direction
grid_length_y int size of gridmap for y direction
grid_position_x int offset from coordinate in x direction
grid_position_y int offset from coordinate in y direction
maximum_lidar_height_thres double maximum height threshold for pointcloud data
minimum_lidar_height_thres double minimum height threshold for pointcloud data
expand_rectangle_size double expand object's rectangle with this value
size_of_expansion_kernel int kernel size for blurring effect on object's costmap

Flowchart#

uml diagram