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<maintainer email="[email protected]">Satoshi Tanaka</maintainer> | ||
<maintainer email="[email protected]">Taiki Tanaka</maintainer> | ||
<maintainer email="[email protected]">Takeshi Miura</maintainer> | ||
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<maintainer email="[email protected]">Shunsuke Miura</maintainer> | ||
<maintainer email="[email protected]">Yoshi Ri</maintainer> | ||
<license>Apache 2.0</license> | ||
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<buildtool_depend>ament_cmake</buildtool_depend> | ||
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<maintainer email="[email protected]">Satoshi Tanaka</maintainer> | ||
<maintainer email="[email protected]">Yusuke Muramatsu</maintainer> | ||
<maintainer email="[email protected]">Shunsuke Miura</maintainer> | ||
<maintainer email="[email protected]">Yoshi Ri</maintainer> | ||
<license>Apache License 2.0</license> | ||
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<buildtool_depend>ament_cmake_auto</buildtool_depend> | ||
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<maintainer email="[email protected]">Satoshi Tanaka</maintainer> | ||
<maintainer email="[email protected]">Yusuke Muramatsu</maintainer> | ||
<maintainer email="[email protected]">Shunsuke Miura</maintainer> | ||
<maintainer email="[email protected]">Yoshi Ri</maintainer> | ||
<license>Apache License 2.0</license> | ||
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<buildtool_depend>ament_cmake_auto</buildtool_depend> | ||
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<maintainer email="[email protected]">Kyoichi Sugahara</maintainer> | ||
<maintainer email="[email protected]">Takamasa Horibe</maintainer> | ||
<maintainer email="[email protected]">Makoto Kurihara</maintainer> | ||
<maintainer email="[email protected]">Mamoru Sobue</maintainer> | ||
<maintainer email="[email protected]">Takayuki Murooka</maintainer> | ||
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<license>Apache License 2.0</license> | ||
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<author email="[email protected]">Kyoichi Sugahara</author> | ||
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14 changes: 14 additions & 0 deletions
14
perception/ground_segmentation/config/ransac_ground_filter.param.yaml
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/**: | ||
ros__parameters: | ||
base_frame: "base_link" | ||
unit_axis: "z" | ||
max_iterations: 1000 | ||
min_trial: 5000 | ||
min_points: 1000 | ||
outlier_threshold: 0.01 | ||
plane_slope_threshold: 10.0 | ||
voxel_size_x: 0.04 | ||
voxel_size_y: 0.04 | ||
voxel_size_z: 0.04 | ||
height_threshold: 0.01 | ||
debug: false |
14 changes: 14 additions & 0 deletions
14
perception/ground_segmentation/config/ray_ground_filter.param.yaml
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/**: | ||
ros__parameters: | ||
min_x: -0.01 | ||
max_x: 0.01 | ||
min_y: -0.01 | ||
max_y: 0.01 | ||
use_vehicle_footprint: false | ||
general_max_slope: 8.0 | ||
local_max_slope: 6.0 | ||
initial_max_slope: 3.0 | ||
radial_divider_angle: 1.0 | ||
min_height_threshold: 0.15 | ||
concentric_divider_distance: 0.0 | ||
reclass_distance_threshold: 0.1 |
17 changes: 17 additions & 0 deletions
17
perception/ground_segmentation/config/scan_ground_filter.param.yaml
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/**: | ||
ros__parameters: | ||
global_slope_max_angle_deg: 10.0 | ||
local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode | ||
split_points_distance_tolerance: 0.2 | ||
use_virtual_ground_point: True | ||
split_height_distance: 0.2 | ||
non_ground_height_threshold: 0.20 | ||
grid_size_m: 0.1 | ||
grid_mode_switch_radius: 20.0 | ||
gnd_grid_buffer_size: 4 | ||
detection_range_z_max: 2.5 | ||
elevation_grid_mode: true | ||
low_priority_region_x: -20.0 | ||
center_pcl_shift: 0.0 | ||
radial_divider_angle_deg: 1.0 | ||
use_recheck_ground_cluster: true |
11 changes: 11 additions & 0 deletions
11
perception/ground_segmentation/launch/ransac_ground_filter.launch.xml
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<?xml version="1.0"?> | ||
<launch> | ||
<arg name="ground_segmentation_param_file" default="$(find-pkg-share ground_segmentation)/config/ransac_ground_filter.param.yaml"/> | ||
<arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud"/> | ||
<arg name="output/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/> | ||
<node pkg="ground_segmentation" exec="ransac_ground_filter_node" name="ransac_ground_filter_node" output="screen"> | ||
<remap from="input" to="$(var input/pointcloud)"/> | ||
<remap from="output" to="$(var output/pointcloud)"/> | ||
<param from="$(var ground_segmentation_param_file)"/> | ||
</node> | ||
</launch> |
11 changes: 11 additions & 0 deletions
11
perception/ground_segmentation/launch/ray_ground_filter.launch.xml
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<?xml version="1.0"?> | ||
<launch> | ||
<arg name="ground_segmentation_param_file" default="$(find-pkg-share ground_segmentation)/config/ray_ground_filter.param.yaml"/> | ||
<arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud"/> | ||
<arg name="output/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/> | ||
<node pkg="ground_segmentation" exec="ray_ground_filter_node" name="ray_ground_filter_node" output="screen"> | ||
<remap from="input" to="$(var input/pointcloud)"/> | ||
<remap from="output" to="$(var output/pointcloud)"/> | ||
<param from="$(var ground_segmentation_param_file)"/> | ||
</node> | ||
</launch> |
15 changes: 15 additions & 0 deletions
15
perception/ground_segmentation/launch/scan_ground_filter.launch.xml
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<?xml version="1.0"?> | ||
<launch> | ||
<arg name="ground_segmentation_param_file" default="$(find-pkg-share ground_segmentation)/config/scan_ground_filter.param.yaml"/> | ||
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<!-- vehicle info --> | ||
<arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/> | ||
<arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud"/> | ||
<arg name="output/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/> | ||
<node pkg="ground_segmentation" exec="scan_ground_filter_node" name="scan_ground_filter_node" output="screen"> | ||
<remap from="input" to="$(var input/pointcloud)"/> | ||
<remap from="output" to="$(var output/pointcloud)"/> | ||
<param from="$(var ground_segmentation_param_file)"/> | ||
<param from="$(var vehicle_info_param_file)"/> | ||
</node> | ||
</launch> |
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