From 5dda6f6f54bda7b5f10e8e9b008bdcd80020de89 Mon Sep 17 00:00:00 2001 From: Autumn60 Date: Thu, 5 Sep 2024 01:03:16 +0900 Subject: [PATCH] adjust params for costmap inflation Signed-off-by: Autumn60 --- .../planning/costmap_generator.param.yaml | 17 +++++++++-------- .../config/costmap_generator.param.yaml | 1 + 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml index 613dd9d7..9633f84e 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml +++ b/aichallenge/workspace/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/aichallenge/workspace/src/aichallenge_submit/costmap/booars_costmap_generator/config/costmap_generator.param.yaml b/aichallenge/workspace/src/aichallenge_submit/costmap/booars_costmap_generator/config/costmap_generator.param.yaml index 3f461d36..2b89b1e2 100644 --- a/aichallenge/workspace/src/aichallenge_submit/costmap/booars_costmap_generator/config/costmap_generator.param.yaml +++ b/aichallenge/workspace/src/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