No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.2.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/at-wat/neonavigation.git
VCS Type git
VCS Version master
Last Updated 2018-12-12
Dev Status DEVELOPED
Released RELEASED

Package Description

3-dof configuration space costmap package

Additional Links

No additional links.

Maintainers

  • Atsushi Watanabe

Authors

  • Atsushi Watanabe

costmap_cspace package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

costmap_3d

costmap_3d node converts 2-D (x, y) OccupancyGrid to 2-D/3-DOF (x, y, yaw) configuration space based on given footprint.

single layer mode (simple version)

Subscribed topics

  • map [nav_msgs::OccupancyGrid]
  • map_overlay [nav_msgs::OccupancyGrid]

Published topics

  • ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
  • ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
  • ~/footprint [geometry_msgs::PolygonStamped]
  • ~/debug [sensor_msgs::PointCloud]

Parameters

  • "ang_resolution" (int, default: 16)
  • "linear_expand" (double, default: 0.2f)
  • "linear_spread" (double, default: 0.5f)
  • "unknown_cost" (int, default: 0)
  • "overlay_mode" (string, default: std::string(""))
  • "footprint" (?, default: footprint_xml)

multiple layer mode

Subscribed topics

  • map [nav_msgs::OccupancyGrid]
  • layer name [nav_msgs::OccupancyGrid]: Subscribed topics are named according to the layers parameters

Published topics

  • ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
  • ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
  • ~/footprint [geometry_msgs::PolygonStamped]
  • ~/debug [sensor_msgs::PointCloud]

Parameters

  • "ang_resolution" (int, default: 16): for root layer
  • "linear_expand" (double, default: 0.2f): for root layer
  • "linear_spread" (double, default: 0.5f): for root layer
  • "footprint" (?, default: footprint_xml): for root layer
  • "static_layers": array of layer configurations
  • "layers": array of layer configurations

Each layer configuration contains: * "name" (string) layer name * "type" (string) layer type name * "parameters" layer specific parameters

Available layer types and parameters are: - Costmap3dLayerFootprint: Configuration space costmap layer according to the given footprint. - "linear_expand" (double) - "linear_spread" (double) - "footprint" (?, default: root layer's footprint) - Costmap3dLayerPlain: Costmap layer without considering footpring. - "linear_expand" (double) - "linear_spread" (double) - Costmap3dLayerOutput: Output generated costmap at this point. In most case, this is placed at the last layer. - Costmap3dLayerStopPropagation: Stop propagating parent layer's cost to the child. This can be used at the beginning of layer to ignore changes in static layers. - Costmap3dLayerUnknownHandle: Set unknown cell's cost. - "unknown_cost" (int)

See example parameters.


laserscan_to_map

stub


pointcloud2_to_map

stub


largemap_to_map

stub

CHANGELOG

Changelog for package costmap_cspace

0.2.3 (2018-07-19)

  • Fix test names (#202)
  • Install sample files and nodes for demo (#201)
  • Contributors: Atsushi Watanabe

0.2.2 (2018-07-17)

0.2.1 (2018-07-14)

  • Fix missing package dependencies (#194)
  • Contributors: Atsushi Watanabe

0.2.0 (2018-07-12)

  • Fix build on Indigo (#180)
  • Fix namespace migration messages (#174)
  • Fix topic/service namespace model (#168)
  • Fix package dependencies (#167)
  • Fix naming styles (#166)
  • Update package descriptions and unify license and version (#165)
  • Use neonavigation_msgs package (#164)
  • costmap_cspace: add StopPropagation layer (#153)
  • costmap_cspace: install header files (#155)
  • costmap_cspace: fix layer order handling from the parameter (#154)
  • costmap_cspace: clear update region on output layer (#139)
  • costmap_cspace: clear previous position on overlay map (#135)
  • Add integration demo (#133)
  • costmap_cspace: add unknown handler layer (#132)
  • costmap_cspace: memory access optimizations (#131)
  • costmap_cspace: keep overlay maps which arrived before base map (#124)
  • costmap_cspace: always store received overlay map (#109)
  • costmap_cspace: make static layers configurable (#108)
  • costmap_cspace: make costmap layer structure configurable (#106)
  • costmap_cspace: refactor CSpace3Cache class (#105)
  • costmap_cspace: add stacked costmap class (#104)
  • costmap_cspace: remove retval of setFootprint (#103)
  • costmap_cspace: move XML-polygon conversion into Polygon class (#102)
  • costmap cspace: add layer type check (#101)
  • costmap_cspace: refactor costmap layer classes (#100)
  • costmap_cspace: make costmap layers stackable (#99)
  • costmap_cspace: make cspace template customizable (#96)
  • costmap_cspace: hold CSpace3D object as shared_ptr (#95)
  • Suppress compile warnings and test with -Werror. (#82)
  • costmap_cspace: fix frame of z-filter in pointcloud2_to_map. (#80)
  • costmap_cspace: fix angular grid accessor before receiving the first map.
  • Add missing dep to xmlrpcpp. (#52)
  • Remove dummy dep to system_lib. (#51)
  • costmap_cspace: adds unit tests. (#48)
  • costmap_cspace: fixes memory access error on global map boundary. (#49)
  • costmap_cspace: refactors costmap_cspace package. (#47)
  • Support package install. (#45)
  • costmap_cspace: pointcloud2_to_map: adds singleshot data input (#41)
  • Fix coding styles. (#39)
  • costmap_cspace: add pointcloud2_to_map node. (#35)
  • costmap_cspace: laserscan_to_map: accumerate scans. (#34)
  • costmap_cspace: adds laserscan_to_map node. (#33)
  • adds READMEs (#11)
  • costmap_cspace, planner_cspace: fixes pkg dependencies
  • changes planner and costmap package names with a postfix _cspace
  • Contributors: Atsushi Watanabe

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged costmap_cspace at answers.ros.org

Package Summary

Tags No category tags.
Version 0.2.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/at-wat/neonavigation.git
VCS Type git
VCS Version master
Last Updated 2018-12-12
Dev Status DEVELOPED
Released RELEASED

Package Description

3-dof configuration space costmap package

Additional Links

No additional links.

Maintainers

  • Atsushi Watanabe

Authors

  • Atsushi Watanabe

costmap_cspace package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

costmap_3d

costmap_3d node converts 2-D (x, y) OccupancyGrid to 2-D/3-DOF (x, y, yaw) configuration space based on given footprint.

single layer mode (simple version)

Subscribed topics

  • map [nav_msgs::OccupancyGrid]
  • map_overlay [nav_msgs::OccupancyGrid]

Published topics

  • ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
  • ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
  • ~/footprint [geometry_msgs::PolygonStamped]
  • ~/debug [sensor_msgs::PointCloud]

Parameters

  • "ang_resolution" (int, default: 16)
  • "linear_expand" (double, default: 0.2f)
  • "linear_spread" (double, default: 0.5f)
  • "unknown_cost" (int, default: 0)
  • "overlay_mode" (string, default: std::string(""))
  • "footprint" (?, default: footprint_xml)

multiple layer mode

Subscribed topics

  • map [nav_msgs::OccupancyGrid]
  • layer name [nav_msgs::OccupancyGrid]: Subscribed topics are named according to the layers parameters

Published topics

  • ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
  • ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
  • ~/footprint [geometry_msgs::PolygonStamped]
  • ~/debug [sensor_msgs::PointCloud]

Parameters

  • "ang_resolution" (int, default: 16): for root layer
  • "linear_expand" (double, default: 0.2f): for root layer
  • "linear_spread" (double, default: 0.5f): for root layer
  • "footprint" (?, default: footprint_xml): for root layer
  • "static_layers": array of layer configurations
  • "layers": array of layer configurations

Each layer configuration contains: * "name" (string) layer name * "type" (string) layer type name * "parameters" layer specific parameters

Available layer types and parameters are: - Costmap3dLayerFootprint: Configuration space costmap layer according to the given footprint. - "linear_expand" (double) - "linear_spread" (double) - "footprint" (?, default: root layer's footprint) - Costmap3dLayerPlain: Costmap layer without considering footpring. - "linear_expand" (double) - "linear_spread" (double) - Costmap3dLayerOutput: Output generated costmap at this point. In most case, this is placed at the last layer. - Costmap3dLayerStopPropagation: Stop propagating parent layer's cost to the child. This can be used at the beginning of layer to ignore changes in static layers. - Costmap3dLayerUnknownHandle: Set unknown cell's cost. - "unknown_cost" (int)

See example parameters.


laserscan_to_map

stub


pointcloud2_to_map

stub


largemap_to_map

stub

CHANGELOG

Changelog for package costmap_cspace

0.2.3 (2018-07-19)

  • Fix test names (#202)
  • Install sample files and nodes for demo (#201)
  • Contributors: Atsushi Watanabe

0.2.2 (2018-07-17)

0.2.1 (2018-07-14)

  • Fix missing package dependencies (#194)
  • Contributors: Atsushi Watanabe

0.2.0 (2018-07-12)

  • Fix build on Indigo (#180)
  • Fix namespace migration messages (#174)
  • Fix topic/service namespace model (#168)
  • Fix package dependencies (#167)
  • Fix naming styles (#166)
  • Update package descriptions and unify license and version (#165)
  • Use neonavigation_msgs package (#164)
  • costmap_cspace: add StopPropagation layer (#153)
  • costmap_cspace: install header files (#155)
  • costmap_cspace: fix layer order handling from the parameter (#154)
  • costmap_cspace: clear update region on output layer (#139)
  • costmap_cspace: clear previous position on overlay map (#135)
  • Add integration demo (#133)
  • costmap_cspace: add unknown handler layer (#132)
  • costmap_cspace: memory access optimizations (#131)
  • costmap_cspace: keep overlay maps which arrived before base map (#124)
  • costmap_cspace: always store received overlay map (#109)
  • costmap_cspace: make static layers configurable (#108)
  • costmap_cspace: make costmap layer structure configurable (#106)
  • costmap_cspace: refactor CSpace3Cache class (#105)
  • costmap_cspace: add stacked costmap class (#104)
  • costmap_cspace: remove retval of setFootprint (#103)
  • costmap_cspace: move XML-polygon conversion into Polygon class (#102)
  • costmap cspace: add layer type check (#101)
  • costmap_cspace: refactor costmap layer classes (#100)
  • costmap_cspace: make costmap layers stackable (#99)
  • costmap_cspace: make cspace template customizable (#96)
  • costmap_cspace: hold CSpace3D object as shared_ptr (#95)
  • Suppress compile warnings and test with -Werror. (#82)
  • costmap_cspace: fix frame of z-filter in pointcloud2_to_map. (#80)
  • costmap_cspace: fix angular grid accessor before receiving the first map.
  • Add missing dep to xmlrpcpp. (#52)
  • Remove dummy dep to system_lib. (#51)
  • costmap_cspace: adds unit tests. (#48)
  • costmap_cspace: fixes memory access error on global map boundary. (#49)
  • costmap_cspace: refactors costmap_cspace package. (#47)
  • Support package install. (#45)
  • costmap_cspace: pointcloud2_to_map: adds singleshot data input (#41)
  • Fix coding styles. (#39)
  • costmap_cspace: add pointcloud2_to_map node. (#35)
  • costmap_cspace: laserscan_to_map: accumerate scans. (#34)
  • costmap_cspace: adds laserscan_to_map node. (#33)
  • adds READMEs (#11)
  • costmap_cspace, planner_cspace: fixes pkg dependencies
  • changes planner and costmap package names with a postfix _cspace
  • Contributors: Atsushi Watanabe

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged costmap_cspace at answers.ros.org

Package Summary

Tags No category tags.
Version 0.2.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/at-wat/neonavigation.git
VCS Type git
VCS Version master
Last Updated 2018-12-12
Dev Status DEVELOPED
Released RELEASED

Package Description

3-dof configuration space costmap package

Additional Links

No additional links.

Maintainers

  • Atsushi Watanabe

Authors

  • Atsushi Watanabe

costmap_cspace package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

costmap_3d

costmap_3d node converts 2-D (x, y) OccupancyGrid to 2-D/3-DOF (x, y, yaw) configuration space based on given footprint.

single layer mode (simple version)

Subscribed topics

  • map [nav_msgs::OccupancyGrid]
  • map_overlay [nav_msgs::OccupancyGrid]

Published topics

  • ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
  • ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
  • ~/footprint [geometry_msgs::PolygonStamped]
  • ~/debug [sensor_msgs::PointCloud]

Parameters

  • "ang_resolution" (int, default: 16)
  • "linear_expand" (double, default: 0.2f)
  • "linear_spread" (double, default: 0.5f)
  • "unknown_cost" (int, default: 0)
  • "overlay_mode" (string, default: std::string(""))
  • "footprint" (?, default: footprint_xml)

multiple layer mode

Subscribed topics

  • map [nav_msgs::OccupancyGrid]
  • layer name [nav_msgs::OccupancyGrid]: Subscribed topics are named according to the layers parameters

Published topics

  • ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
  • ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
  • ~/footprint [geometry_msgs::PolygonStamped]
  • ~/debug [sensor_msgs::PointCloud]

Parameters

  • "ang_resolution" (int, default: 16): for root layer
  • "linear_expand" (double, default: 0.2f): for root layer
  • "linear_spread" (double, default: 0.5f): for root layer
  • "footprint" (?, default: footprint_xml): for root layer
  • "static_layers": array of layer configurations
  • "layers": array of layer configurations

Each layer configuration contains: * "name" (string) layer name * "type" (string) layer type name * "parameters" layer specific parameters

Available layer types and parameters are: - Costmap3dLayerFootprint: Configuration space costmap layer according to the given footprint. - "linear_expand" (double) - "linear_spread" (double) - "footprint" (?, default: root layer's footprint) - Costmap3dLayerPlain: Costmap layer without considering footpring. - "linear_expand" (double) - "linear_spread" (double) - Costmap3dLayerOutput: Output generated costmap at this point. In most case, this is placed at the last layer. - Costmap3dLayerStopPropagation: Stop propagating parent layer's cost to the child. This can be used at the beginning of layer to ignore changes in static layers. - Costmap3dLayerUnknownHandle: Set unknown cell's cost. - "unknown_cost" (int)

See example parameters.


laserscan_to_map

stub


pointcloud2_to_map

stub


largemap_to_map

stub

CHANGELOG

Changelog for package costmap_cspace

0.2.3 (2018-07-19)

  • Fix test names (#202)
  • Install sample files and nodes for demo (#201)
  • Contributors: Atsushi Watanabe

0.2.2 (2018-07-17)

0.2.1 (2018-07-14)

  • Fix missing package dependencies (#194)
  • Contributors: Atsushi Watanabe

0.2.0 (2018-07-12)

  • Fix build on Indigo (#180)
  • Fix namespace migration messages (#174)
  • Fix topic/service namespace model (#168)
  • Fix package dependencies (#167)
  • Fix naming styles (#166)
  • Update package descriptions and unify license and version (#165)
  • Use neonavigation_msgs package (#164)
  • costmap_cspace: add StopPropagation layer (#153)
  • costmap_cspace: install header files (#155)
  • costmap_cspace: fix layer order handling from the parameter (#154)
  • costmap_cspace: clear update region on output layer (#139)
  • costmap_cspace: clear previous position on overlay map (#135)
  • Add integration demo (#133)
  • costmap_cspace: add unknown handler layer (#132)
  • costmap_cspace: memory access optimizations (#131)
  • costmap_cspace: keep overlay maps which arrived before base map (#124)
  • costmap_cspace: always store received overlay map (#109)
  • costmap_cspace: make static layers configurable (#108)
  • costmap_cspace: make costmap layer structure configurable (#106)
  • costmap_cspace: refactor CSpace3Cache class (#105)
  • costmap_cspace: add stacked costmap class (#104)
  • costmap_cspace: remove retval of setFootprint (#103)
  • costmap_cspace: move XML-polygon conversion into Polygon class (#102)
  • costmap cspace: add layer type check (#101)
  • costmap_cspace: refactor costmap layer classes (#100)
  • costmap_cspace: make costmap layers stackable (#99)
  • costmap_cspace: make cspace template customizable (#96)
  • costmap_cspace: hold CSpace3D object as shared_ptr (#95)
  • Suppress compile warnings and test with -Werror. (#82)
  • costmap_cspace: fix frame of z-filter in pointcloud2_to_map. (#80)
  • costmap_cspace: fix angular grid accessor before receiving the first map.
  • Add missing dep to xmlrpcpp. (#52)
  • Remove dummy dep to system_lib. (#51)
  • costmap_cspace: adds unit tests. (#48)
  • costmap_cspace: fixes memory access error on global map boundary. (#49)
  • costmap_cspace: refactors costmap_cspace package. (#47)
  • Support package install. (#45)
  • costmap_cspace: pointcloud2_to_map: adds singleshot data input (#41)
  • Fix coding styles. (#39)
  • costmap_cspace: add pointcloud2_to_map node. (#35)
  • costmap_cspace: laserscan_to_map: accumerate scans. (#34)
  • costmap_cspace: adds laserscan_to_map node. (#33)
  • adds READMEs (#11)
  • costmap_cspace, planner_cspace: fixes pkg dependencies
  • changes planner and costmap package names with a postfix _cspace
  • Contributors: Atsushi Watanabe

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged costmap_cspace at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.