[Documentation] [TitleIndex] [WordIndex

  Show EOL distros: 

Package Summary

range_sensor_layer

  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>
  • Author: David!!
  • License: BSD
navigation_layers: range_sensor_layer | social_navigation_layers

Package Summary

Navigation Layer for Range sensors like sonar and IR

navigation_layers: range_sensor_layer | social_navigation_layers

Package Summary

Navigation Layer for Range sensors like sonar and IR

navigation_layers: range_sensor_layer | social_navigation_layers

Package Summary

Navigation Layer for Range sensors like sonar and IR

navigation_layers: range_sensor_layer | social_navigation_layers

Package Summary

Navigation Layer for Range sensors like sonar and IR

Overview

The range_sensor_layer is a plugin for the LayeredCostmap in costmap_2d, that uses the sensor_msgs/Range message. It is intended for use with sonar and infrared data.

The Range messages are integrated into the costmap by using a probabilistic model.

Cells with a probability higher than the mark_threshold are marked as lethal obstacles in the master costmap. Cells with a probability lower than the clear_threshold are marked as free space in the master costmap.

API

Subscribed Topics

"topics" (sensor_msgs/Range)

Parameters

ns (string, default: "") topics (Array of strings, default: ['/sonar']) no_readings_timeout (double, default: 0.0) clear_threshold (double, default: .2) mark_threshold (double, default: .8) clear_on_max_reading (bool, default: false)

Usage

This layer can be used by adding the following values to the plugins parameter in your costmap.

      - {name: sonar,   type: "range_sensor_layer::RangeSensorLayer"}


2019-12-07 13:00