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local costmap long and narrow. local inflation lower. rosparam for cl… #42

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8 changes: 4 additions & 4 deletions src/grudsby_costmap/config/local_costmap.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@ local_costmap:
rolling_window: true
track_unknown_space: false
inf_is_valid: true
height: 6.0
width: 6.0
height: 2.0
width: 11

plugins:
- {name: obstacles_laser_local, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
- {name: obstacles_laser_local, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_dymamic, type: "costmap_2d::InflationLayer"}
4 changes: 4 additions & 0 deletions src/grudsby_costmap/config/shared_costmap.yaml
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Expand Up @@ -89,3 +89,7 @@ obstacles_laser_local:
inflation:
inflation_radius: 1.0
cost_scaling_factor: 1.0

inflation_dynamic:
inflation_radius: 0.1
cost_scaling_factor: 1.0
5 changes: 4 additions & 1 deletion src/grudsby_launch/launch/dynamic.launch
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Expand Up @@ -20,7 +20,7 @@ Grudsby will stop if an obstacle is encountered
<!-- GPS launch file-->
<!--<include file="$(find nmea_navsat_driver)/launch/launch_nmea_driver.launch"/> -->
<node pkg="grudsby_tools" type="gps_spoofer.py" name="gps_spoofer"/>
<node pkg="grudsby_costmap" type="obstacles.py" name="obstacles"/> -->
<node pkg="grudsby_costmap" type="obstacles.py" name="obstacles"/> -->

<!-- Navigation nodes -->
<include file="$(find grudsby_localization)/launch/grudsby_localization_ekf.launch"/>
Expand Down Expand Up @@ -68,6 +68,9 @@ Grudsby will stop if an obstacle is encountered
</node>

<node pkg="scan_filter" type="scan_inf_repeater.py" name="scan_inf_repeater"/>
<rosparam>
clip_scan : True
</rosparam>
<!--
<node name="gucci_gang" pkg="gucci_gang" type="gucci_gang"/>
-->
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9 changes: 7 additions & 2 deletions src/grudsby_vision/scan_filter/scripts/scan_inf_repeater.py
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Expand Up @@ -8,11 +8,12 @@

from sensor_msgs.msg import LaserScan

MAX_RANGE = 8
MAX_RANGE = 4.1

class DiffTf:
def __init__(self):
rospy.init_node("scan_repeater")
self.clip_range = rospy.get_param("clip_scan",False)
self.nodename = rospy.get_name()
rospy.loginfo("-I- %s started" % self.nodename)
self.rate = 100
Expand Down Expand Up @@ -51,7 +52,11 @@ def laserResponseCallback(self, msg):
for i in range ( window_size , len ( fix_nans )-window_size ):
neighborhood = fix_nans [ i-window_size : i + window_size + 1]
neighborhood.sort ( )
output [ i ] = neighborhood [ int ( math.floor ( window_size / 2 ) ) ]
if self.clip_range:
output [ i ] = min ( MAX_RANGE ,
neighborhood [ int ( math.floor ( window_size / 2 ) ) ] )
else:
output [ i ] = neighborhood [ int ( math.floor ( window_size / 2 ) ) ]

cloud_out.ranges = tuple (output)
self.laserPub.publish(cloud_out)
Expand Down