update booars_costmap_generator

Signed-off-by: Autumn60 <[email protected]>
booars · Sep 2, 2024 · 3e972bd · 3e972bd
1 parent af5a2f0
commit 3e972bd
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Showing 2 changed files with 18 additions and 7 deletions.
diff --git a/...c/aichallenge_submit/costmap/booars_costmap_generator/config/costmap_generator.param.yaml b/...c/aichallenge_submit/costmap/booars_costmap_generator/config/costmap_generator.param.yaml
@@ -1,17 +1,28 @@
 /**:
   ros__parameters:
-    update_rate: 10.0
+    update_rate: 20.0
     map_frame_id: "map"
     costmap_center_frame_id: "base_link"
-    costmap_width: 20.0
-    costmap_resolution: 0.1
+    costmap_width: 50.0
+    costmap_resolution: 0.2
     multi_layered_costmap:
       layers:
-        - "lanelet_layer"
+        - "cached_lanelet_layer"
+        # - "lanelet_layer"
         - "predicted_object_layer"
-      lanelet_layer:
-        type: "lanelet"
+      cached_lanelet_layer:
+        type: "cached_lanelet"
         map_topic: "/map/vector_map"
+        costmap_topic: "~/debug/cached_costmap"
+        cached_costmap:
+          min_x: 89607.0
+          max_x: 89687.0
+          min_y: 43114.0
+          max_y: 43194.0
+          resolution: 0.1
+      # lanelet_layer:
+      #   type: "lanelet"
+      #   map_topic: "/map/vector_map"
       predicted_object_layer:
         type: "predicted_object"
         predicted_objects_topic: "/perception/object_recognition/objects"

diff --git a/...rkspace/src/aichallenge_submit/costmap/booars_costmap_generator/src/costmap_generator.cpp b/...rkspace/src/aichallenge_submit/costmap/booars_costmap_generator/src/costmap_generator.cpp
@@ -44,7 +44,7 @@ CostmapGenerator::CostmapGenerator(const rclcpp::NodeOptions & options)
     double costmap_width = this->declare_parameter("costmap_width", 10.0);
     double costmap_resolution = this->declare_parameter("costmap_resolution", 0.1);
     costmap_parameters_ =
-      OccupancyGridParameters::create_parameters(costmap_width, costmap_resolution);
+      OccupancyGridParameters::create_parameters(costmap_width, costmap_width, costmap_resolution);
     index_to_point_table_ =
       booars_utils::nav::occupancy_grid_utils::get_index_to_point_table(costmap_parameters_);
   }