Plugins¶

This page is structured in two parts:

Existing plugins
Create a plugin

Existing plugins¶

1. Min filter¶

2. Inpainting¶

3. Smooth Filter¶

4. Robot centric elevation¶

5. Semantic Filter¶

6. Semantic traversability¶

Create a plugin¶

You can create your own plugin to process the elevation map and publish as a layer in GridMap message.

Let’s look at the example.

First, create your plugin file in elevation_mapping_cupy/script/plugins/ and save as example.py.

import cupy as cp
from typing import List
from .plugin_manager import PluginBase


class NameOfYourPlugin(PluginBase):
    def __init__(self, add_value:float=1.0, **kwargs):
        super().__init__()
        self.add_value = float(add_value)

    def __call__(self, elevation_map: cp.ndarray, layer_names: List[str],
            plugin_layers: cp.ndarray, plugin_layer_names: List[str])->cp.ndarray:
        # Process maps here
        # You can also use the other plugin's data through plugin_layers.
        new_elevation = elevation_map[0] + self.add_value
        return new_elevation

Then, add your plugin setting to config/plugin_config.yaml

example:                                      # Name of your filter
  type: "example"                             # Specify the name of your plugin (the name of your file name).
  enable: True                                # weather to load this plugin
  fill_nan: True                              # 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: "example_layer"                 # The layer name.
  extra_params:                               # This params are passed to the plugin class on initialization.
    add_value: 2.0                            # Example param

example_large:                                # You can apply same filter with different name.
  type: "example"                             # Specify the name of your plugin (the name of your file name).
  enable: True                                # weather to load this plugin
  fill_nan: True                              # 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: "example_layer_large"           # The layer name.
  extra_params:                               # This params are passed to the plugin class on initialization.
    add_value: 100.0                          # Example param with larger value.

Finally, add your layer name to publishers in config/parameters.yaml. You can create a new topic or add to existing topics.

plugin_example: # Topic name
  layers: [ 'elevation', 'example_layer', 'example_layer_large' ]
  basic_layers: [ 'example_layer' ]
  fps: 1.0        # The plugin is called with this fps.