README.md

costmap_cspace package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

costmap_3d

costmap_3d node converts 2-D (x, y) OccupancyGrid to 2-D/3-DOF (x, y, yaw) configuration space based on given footprint.

single layer mode (simple version)

Subscribed topics

• map [nav_msgs::OccupancyGrid]
• map_overlay [nav_msgs::OccupancyGrid]

Published topics

• ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
• ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
• ~/footprint [geometry_msgs::PolygonStamped]
• ~/debug [sensor_msgs::PointCloud]

Parameters

• "ang_resolution" (int, default: 16)
• "linear_expand" (double, default: 0.2f)
• "linear_spread" (double, default: 0.5f)
• "linear_spread_min_cost" (int, default: 0)
• "unknown_cost" (int, default: 0)
• "overlay_mode" (string, default: std::string(""))
• "footprint" (?, default: footprint_xml)

multiple layer mode

Subscribed topics

• map [nav_msgs::OccupancyGrid]
• layer name [nav_msgs::OccupancyGrid]: Subscribed topics are named according to the layers parameters

Published topics

• ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
• ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
• ~/footprint [geometry_msgs::PolygonStamped]
• ~/debug [sensor_msgs::PointCloud]

Parameters

• "ang_resolution" (int, default: 16): for root layer
• "linear_expand" (double, default: 0.2f): for root layer
• "linear_spread" (double, default: 0.5f): for root layer
• "linear_spread_min_cost" (int, default: 0)
• "footprint" (?, default: footprint_xml): for root layer
• "static_layers": array of layer configurations
• "layers": array of layer configurations

Each layer configuration contains:

• "name" (string) layer name
• "type" (string) layer type name
• "parameters" layer specific parameters

Available layer types and parameters are:

• Costmap3dLayerFootprint: Configuration space costmap layer according to the given footprint.
  • "linear_expand" (double)
  • "linear_spread" (double)
  • "linear_spread_min_cost" (int, default: 0)
  • "footprint" (?, default: root layer's footprint)
• Costmap3dLayerPlain: Costmap layer without considering footpring.
  • "linear_expand" (double)
  • "linear_spread" (double)
  • "linear_spread_min_cost" (int, default: 0)
• Costmap3dLayerOutput: Output generated costmap at this point. In most case, this is placed at the last layer.
• Costmap3dLayerStopPropagation: Stop propagating parent layer's cost to the child. This can be used at the beginning of layer to ignore changes in static layers.
• Costmap3dLayerUnknownHandle: Set unknown cell's cost.
  • "unknown_cost" (int)

See example parameters.

The diagram below shows how "linear_expand", "linear_spread" and "linear_spread_min_cost" work. "linear_spread_min_cost" can make the costs of grids near obstacles higher to avoid other costs such as preferences overriding the costs of these grids.

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laserscan_to_map

stub

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pointcloud2_to_map

stub

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largemap_to_map

stub