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Added range sensor costmap layer to documentation #50

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1 change: 1 addition & 0 deletions configuration/packages/configuring-costmaps.rst
Original file line number Diff line number Diff line change
Expand Up @@ -320,6 +320,7 @@ Plugin Parameters
costmap-plugins/inflation.rst
costmap-plugins/obstacle.rst
costmap-plugins/voxel.rst
costmap-plugins/range.rst

Example
*******
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107 changes: 107 additions & 0 deletions configuration/packages/costmap-plugins/range.rst
Original file line number Diff line number Diff line change
@@ -0,0 +1,107 @@
.. range:

Range Sensor Parameters
======================

``<range layer>`` is the corresponding plugin name selected for this type.

:``<range layer>``.enabled:

==== =======
Type Default
---- -------
bool True
==== =======

Description
Whether it is enabled.

:``<range layer>``.topics:

============== =======
Type Default
-------------- -------
vector<string> [""]
============== =======

Description
Range topics to subscribe to.

:``<range layer>``.phi:

====== =======
Type Default
------ -------
double 1.2
====== =======

Description
Phi value.

:``<range layer>``.inflate_cone:

====== =======
Type Default
------ -------
double 1.0
====== =======

Description
Inflate the triangular area covered by the sensor (percentage).

:``<range layer>``.no_readings_timeout:

====== =======
Type Default
------ -------
double 0.0
====== =======

Description
If zero, this parameter has no effect. Otherwise if the layer does
not receive sensor data for this amount of time,
the layer will warn the user and the layer will be marked as not current.

:``<range layer>``.clear_threshold:

====== =======
Type Default
------ -------
double 0.2
====== =======

Description
Probability below which cells are marked as free.

:``<range layer>``.mark_threshold:

====== =======
Type Default
------ -------
double 0.8
====== =======

Description
Probability above which cells are marked as occupied.

:``<range layer>``.clear_on_max_reading:

====== =======
Type Default
------ -------
bool False
====== =======

Description
Whether to clear the sensor readings on max range.

:``<range layer>``.input_sensor_type:

====== =======
Type Default
------ -------
string ALL
====== =======

Description
Input sensor type is either ALL (automatic selection), VARIABLE (min range != max range), or FIXED (min range == max range).
6 changes: 6 additions & 0 deletions migration/Eloquent.rst
Original file line number Diff line number Diff line change
Expand Up @@ -124,3 +124,9 @@ Selection of Behavior Tree in each navigation action
The ``NavigateToPose`` action allows now to select in the action request the behavior tree to be used by ``bt_navigator`` for carrying out the navigation action through the ``string behavior_tree`` field. This field indicates the absolute path of the xml file that will be used to use to carry out the action. If no file is specified, leaving this field empty, the default behavior tree specified in the ``default_bt_xml_filename parameter`` will be used.

This functionality has been discussed in `this ticket <https://github.com/ros-planning/navigation2/issues/1780>`_, and carried out in `this pull request <https://github.com/ros-planning/navigation2/issues/1780>`_

New Costmap Layer
*****************
The range sensor costmap has not been ported to navigation2 as ``nav2_costmap_2d::RangeSensorLayer"``. It uses the same
probabilistic model as the `ROS1 <http://wiki.ros.org/range_sensor_layer>`_ layer as well as much of the
same interface. Documentation on parameters has been added to docs/parameters and the navigation.ros.org under ``Configuration Guide``.
5 changes: 5 additions & 0 deletions plugins/index.rst
Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,10 @@ Costmap Layers
| | | laser sensor readings and |
| | | raycasting to clear free space |
+--------------------------------+------------------------+----------------------------------+
| `Range Layer`_ | David Lu | Uses a probabalistic model to |
| | | put data from sensors that |
| | | publish range msgs on the costmap|
+--------------------------------+------------------------+----------------------------------+
| `Static Layer`_ | Eitan Marder-Eppstein | Gets static ``map`` and loads |
| | | occupancy information into |
| | | costmap |
Expand All @@ -44,6 +48,7 @@ Costmap Layers

.. _Voxel Layer: https://github.com/ros-planning/navigation2/tree/master/nav2_costmap_2d/plugins/voxel_layer.cpp
.. _Static Layer: https://github.com/ros-planning/navigation2/tree/master/nav2_costmap_2d/plugins/static_layer.cpp
.. _Range Layer: https://github.com/ros-planning/navigation2/tree/master/nav2_costmap_2d/plugins/range_sensor_layer.cpp
.. _Inflation Layer: https://github.com/ros-planning/navigation2/tree/master/nav2_costmap_2d/plugins/inflation_layer.cpp
.. _Obstacle Layer: https://github.com/ros-planning/navigation2/tree/master/nav2_costmap_2d/plugins/obstacle_layer.cpp
.. _Spatio-Temporal Voxel Layer: https://github.com/SteveMacenski/spatio_temporal_voxel_layer/
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