Parameters¶
There are three parameter files:
Robot Setup Configurations¶
Such as Publishers and subscribers
/elevation_mapping_node:
ros__parameters:
#### Plugins ########
plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/core/plugin_config.yaml'
#### Channel Fusions ########
pointcloud_channel_fusions:
rgb: 'color' # 'color' fusion is used for the 'rgb' channel
default: 'average' # 'average' fusion is used for channels not listed here
image_channel_fusions:
rgb: 'color' # 'color' fusion is used for the 'rgb' channel
default: 'exponential' # 'exponential' fusion is used for channels not listed here
feat_.*: 'exponential' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names
#### Subscribers ########
# pointcloud_sensor_name:
# topic_name: '/sensor/pointcloud_semantic'
# data_type: pointcloud # pointcloud or image
#
# image_sensor_name:
# topic_name: '/camera/image_semantic'
# data_type: image # pointcloud or image
# camera_info_topic_name: '/camera/depth/camera_info'
# channel_info_topic_name: '/camera/channel_info'
subscribers:
front_cam:
topic_name: '/camera/depth/points'
data_type: pointcloud
color_cam: # for color camera
topic_name: '/camera/rgb/image_raw'
camera_info_topic_name: '/camera/depth/camera_info'
data_type: image
semantic_cam: # for semantic images
topic_name: '/front_cam/semantic_image'
camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized'
channel_info_topic_name: '/front_cam/channel_info'
data_type: image
#### Publishers ########
# topic_name:
# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names
# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`.
# fps: # Publish rate. Use smaller value than `map_acquire_fps`.
publishers:
elevation_map_raw:
layers: ['elevation', 'traversability', 'variance','rgb']
basic_layers: ['elevation']
fps: 5.0
elevation_map_recordable:
layers: ['elevation', 'traversability']
basic_layers: ['elevation', 'traversability']
fps: 2.0
elevation_map_filter:
layers: ['min_filter', 'smooth', 'inpaint', 'elevation']
basic_layers: ['min_filter']
fps: 3.0
Plugin configurations¶
More informations on the plugins can be found in Plugins.
/elevation_mapping_node:
ros__parameters:
# Settings of the plugins. (The plugins should be stored in script/plugins)
# min_filter fills in minimum value around the invalid cell.
min_filter:
enable: True # weather to load this plugin
fill_nan: False # Fill nans to invalid cells of elevation layer.
is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability)
layer_name: "min_filter" # The layer name.
extra_params: # This params are passed to the plugin class on initialization.
dilation_size: 1 # The patch size to apply
iteration_n: 30 # The number of iterations
# Apply smoothing.
smooth_filter:
enable: True
fill_nan: False
is_height_layer: True
layer_name: "smooth"
extra_params:
input_layer_name: "min_filter"
# Apply inpainting using opencv
inpainting:
enable: True
fill_nan: False
is_height_layer: True
layer_name: "inpaint"
extra_params:
method: "telea" # telea or ns
# Apply smoothing for inpainted layer
erosion:
enable: True
fill_nan: False
is_height_layer: False
layer_name: "erosion"
extra_params:
input_layer_name: "traversability"
dilation_size: 3
iteration_n: 20
reverse: True
Core Parameters¶
elevation_mapping_node:
ros__parameters:
#### Basic parameters ########
resolution: 0.04 # resolution in m.
map_length: 8.0 # map's size in m.
sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor).
mahalanobis_thresh: 2.0 # points outside this distance is outlier.
outlier_variance: 0.01 # if point is outlier, add this value to the cell.
drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation.
max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety)
drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation
time_variance: 0.0001 # add this value when update_variance is called.
max_variance: 100.0 # maximum variance for each cell.
initial_variance: 1000.0 # initial variance for each cell.
traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation.
dilation_size: 3 # dilation filter size before traversability filter.
wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp.
min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number.
position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens.
orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens.
position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements.
orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements.
min_valid_distance: 0.5 # points with shorter distance will be filtered out.
max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling.
ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject.
ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject.
ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject.
update_variance_fps: 5.0 # fps for updating variance.
update_pose_fps: 3.0 # fps for updating pose and shift the center of map.
time_interval: 0.1 # Time layer is updated with this interval.
map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps.
publish_statistics_fps: 1.0 # Publish statistics topic in this fps.
recordable_fps: 3.0 # Recordable fps for pointcloud.
enable_normal_arrow_publishing: false
max_ray_length: 10.0 # maximum length for ray tracing.
cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup.
cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup.
safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell.
safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this.
max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe.
overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting)
overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting)
map_frame: 'odom' # The map frame where the odometry source uses.
base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map.
corrected_map_frame: 'odom'
#### Feature toggles ########
enable_edge_sharpen: true
enable_visibility_cleanup: true
enable_drift_compensation: true
enable_overlap_clearance: true
enable_pointcloud_publishing: false
enable_drift_corrected_TF_publishing: false
enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize.
#### Traversability filter ########
use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster.
weight_file: '$(find-pkg-share elevation_mapping_cupy)/config/core/weights.dat' # Weight file for traversability filter
#### Upper bound ########
use_only_above_for_upper_bound: false
#### Initializer ########
initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic'
initialize_frame_id: 'nearest' # One tf (like ['footprint'] ) initializes a square around it.
initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id.
dilation_size_initialize: 2 # dilation size after the init.
initialize_tf_grid_size: 50 # This is not used if number of tf is more than 3.
use_initializer_at_start: true # Use initializer when the node starts.
#### Default Plugins ########
plugin_config_file: '$(find-pkg-share elevation_mapping_cupy)/config/core/plugin_config.yaml'
Sensor parameter¶
More informations on the sensor configurations can be found in Semantics.
front_cam_pointcloud:
channels: ['rgb', 'chair','sofa',"person" ]
fusion: ['color','class_average','class_average','class_average']
topic_name: 'front_camera/semantic_pointcloud'
semantic_segmentation: True
publish_segmentation_image: True
segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large
show_label_legend: False
data_type: pointcloud
cam_info_topic: "camera/depth/camera_info"
image_topic: "camera/rgb/image_raw"
depth_topic: "camera/depth/image_raw"
cam_frame: "camera_rgb_optical_frame"
front_cam_image:
channels: ['chair','sofa',"person"]
fusion_methods: ['exponential','exponential','exponential']
publish_topic: 'semantic_image'
publish_image_topic: "semantic_image_debug"
publish_camera_info_topic: 'semantic_image_info'
publish_fusion_info_topic: 'semantic_image_fusion_info'
data_type: image
semantic_segmentation: True
feature_extractor: True
segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large
show_label_legend: False
image_topic: "camera/rgb/image_raw"
camera_info_topic: "camera/depth/camera_info"
resize: 0.5