31 lines
1.5 KiB
YAML
31 lines
1.5 KiB
YAML
###########################################################################################
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## NOTE: Costmap conversion is experimental. Its purpose is to combine many point ##
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## obstales into clusters, computed in a separate thread in order to improve the overall ##
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## efficiency of local planning. However, the implemented conversion algorithms are in a ##
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## very early stage of development. Contributions are welcome! ##
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###########################################################################################
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TebLocalPlannerROS:
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## Costmap converter plugin
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#costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
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costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSRANSAC"
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#costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSMCCH"
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#costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSConcaveHull"
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costmap_converter_spin_thread: True
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costmap_converter_rate: 5
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## Configure plugins (namespace move_base/costmap_to_lines or move_base/costmap_to_polygons)
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## costmap_converter/CostmapToLinesDBSRANSAC, costmap_converter/CostmapToLinesDBSMCCH, costmap_converter/CostmapToPolygonsDBSMCCH
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costmap_converter/CostmapToLinesDBSRANSAC:
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cluster_max_distance: 0.4
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cluster_min_pts: 2
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ransac_inlier_distance: 0.15
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ransac_min_inliers: 10
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ransac_no_iterations: 1500
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ransac_remainig_outliers: 3
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ransac_convert_outlier_pts: True
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ransac_filter_remaining_outlier_pts: False
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convex_hull_min_pt_separation: 0.1
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