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 for package costmap_cspace

0.4.0 (2019-05-09)

• costmap_cspace: add const begin/end to PointcloudAccumurator (#294)
• Contributors: Naotaka Hatao

0.3.1 (2019-01-10)

• Fix pointer alignment style (#233)
• Migrate tf to tf2 (#230)
• Fix catkin package definitions (#206)
• Contributors: Atsushi Watanabe, So Jomura

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