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.../perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml
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# sample grid map fusion parameters for sample sensor kit | ||
/**: | ||
ros__parameters: | ||
# shared parameters | ||
shared_config: | ||
map_frame: "map" | ||
base_link_frame: "base_link" | ||
# center of the grid map | ||
gridmap_origin_frame: "base_link" | ||
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map_resolution: 0.5 # [m] | ||
map_length_x: 150.0 # [m] | ||
map_length_y: 150.0 # [m] | ||
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# each grid map parameters | ||
ogm_creation_config: | ||
height_filter: | ||
use_height_filter: true | ||
min_height: -1.0 | ||
max_height: 2.0 | ||
enable_single_frame_mode: true | ||
# use sensor pointcloud to filter obstacle pointcloud | ||
filter_obstacle_pointcloud_by_raw_pointcloud: true | ||
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grid_map_type: "OccupancyGridMapFixedBlindSpot" | ||
OccupancyGridMapFixedBlindSpot: | ||
distance_margin: 1.0 | ||
OccupancyGridMapProjectiveBlindSpot: | ||
projection_dz_threshold: 0.01 # [m] for avoiding null division | ||
obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length | ||
pub_debug_grid: false | ||
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# parameter settings for ogm fusion | ||
fusion_config: | ||
# following parameters are shared: map_frame, base_link_frame, gridmap_origin_frame, map_resolution, map_length | ||
# Setting1: tune ogm creation parameters | ||
raw_pointcloud_topics: # put each sensor's pointcloud topic | ||
- "/sensing/lidar/top/pointcloud" | ||
- "/sensing/lidar/left/pointcloud" | ||
- "/sensing/lidar/right/pointcloud" | ||
fusion_input_ogm_topics: | ||
- "/perception/occupancy_grid_map/top_lidar/map" | ||
- "/perception/occupancy_grid_map/left_lidar/map" | ||
- "/perception/occupancy_grid_map/right_lidar/map" | ||
# reliability of each sensor (0.0 ~ 1.0) only work with "log-odds" and "dempster-shafer" | ||
input_ogm_reliabilities: | ||
- 1.0 | ||
- 0.6 | ||
- 0.6 | ||
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# Setting2: tune ogm fusion parameters | ||
## choose fusion method from ["overwrite", "log-odds", "dempster-shafer"] | ||
fusion_method: "overwrite" |
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..._launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml
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/**: | ||
ros__parameters: | ||
# 1. fusion parameters | ||
fusion_input_ogm_topics: ["topic1", "topic2"] | ||
input_ogm_reliabilities: [0.8, 0.2] | ||
fusion_method: "overwrite" # choose from ["overwrite", "log-odds", "dempster-shafer"] | ||
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# 2. synchronization settings | ||
match_threshold_sec: 0.01 # 10ms | ||
timeout_sec: 0.1 # 100ms | ||
input_offset_sec: [0.0, 0.0] # no offset | ||
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# 3. settings for fused fusion map | ||
# remember resolution and map size should be same with input maps | ||
map_frame_: "map" | ||
base_link_frame_: "base_link" | ||
grid_map_origin_frame_: "base_link" | ||
fusion_map_length_x: 100.0 | ||
fusion_map_length_y: 100.0 | ||
fusion_map_resolution: 0.5 |
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2 changes: 1 addition & 1 deletion
2
autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml
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/**: | ||
ros__parameters: | ||
update_rate: 10.0 | ||
add_duplicated_node_names_to_msg: false # if true, duplicated node names are added to msg | ||
add_duplicated_node_names_to_msg: true # if true, duplicated node names are added to msg |
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