adjust params for costmap inflation

Signed-off-by: Autumn60 <[email protected]>
booars · Sep 4, 2024 · 5dda6f6 · 5dda6f6
1 parent 8519d01
commit 5dda6f6
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Showing 2 changed files with 10 additions and 8 deletions.
diff --git a/...rkspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml b/...rkspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml
@@ -1,10 +1,10 @@
 /**:
   ros__parameters:
-    update_rate: 20.0
+    update_rate: 20.0       # [Hz]
     map_frame_id: "map"
     costmap_center_frame_id: "base_link"
-    costmap_width: 50.0
-    costmap_resolution: 0.2
+    costmap_width: 50.0     # [m]
+    costmap_resolution: 0.2 # [m/cell]
     multi_layered_costmap:
       layers:
         - "cached_lanelet_layer"
@@ -13,12 +13,13 @@
         type: "cached_lanelet"
         map_topic: "/map/vector_map"
         costmap_topic: "~/debug/cached_costmap"
+        inflation_radius: 0.6 # [m]
         cached_costmap:
-          min_x: 89607.0
-          max_x: 89687.0
-          min_y: 43114.0
-          max_y: 43194.0
-          resolution: 0.1
+          min_x: 89607.0  # [m]
+          max_x: 89687.0  # [m]
+          min_y: 43114.0  # [m]
+          max_y: 43194.0  # [m]
+          resolution: 0.1 # [m/cell]
       predicted_object_layer:
         type: "predicted_object"
         predicted_objects_topic: "/perception/object_recognition/objects"

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
@@ -14,6 +14,7 @@
         type: "cached_lanelet"
         map_topic: "/map/vector_map"
         costmap_topic: "~/debug/cached_costmap"
+        inflation_radius: 0.5
         cached_costmap:
           min_x: 89607.0
           max_x: 89687.0