costmap_generator
costmap_generator_node
This node reads PointCloud
and/or DynamicObjectArray
and creates an OccupancyGrid
and GridMap
. VectorMap(Lanelet2)
is optional.
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
- Write your remapping info in
costmap_generator.launch
or add args when executing roslaunch
- 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
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font-size="11" lengthAdjust="spacing" textLength="106" x="95.5" y="103.105">scenario is active?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="14" x="213.5" y="96.7026">no</text><ellipse cx="249.5" cy="99.2969" fill="none" rx="11" ry="11" style="stroke:#222222;stroke-width:1.0;"/><ellipse cx="249.5" cy="99.2969" fill="#222222" rx="6" ry="6" style="stroke:#111111;stroke-width:1.0;"/><rect fill="#F1F1F1" height="33.9688" rx="12.5" ry="12.5" style="stroke:#181818;stroke-width:0.5;" width="122" x="87.5" y="143.0073"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacing" textLength="102" x="97.5" y="164.146">get current pose</text><rect fill="#F1F1F1" height="33.9688" rx="12.5" ry="12.5" style="stroke:#181818;stroke-width:0.5;" width="275" x="11" y="196.9761"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacing" textLength="255" x="21" y="218.1147">set the center of costmap to 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