robotx_costmap_calculator

Subscribed Topics

point_cloud topic

/perception/points_concatenate_node/output(sensor_msgs::msg::PointCloud2)

Laser_Scan topic

/perception/pointcloud_to_laserscan_node/output(sensor_msgs::msg::LaserScan)

current_pose topic

/current_pose(geometry_msgs::msg::PoseStamped)

publish Topics

/combined_grid_map(grid_map::msgs::msg::GridMap)

各レイヤーの統合トピック

/grid_map(grid_map::msgs::msg::GridMap)

PointCloudやLaserScanの表示

parameters

Name	Type	Description	default
resolution	double	Map resolution in xy plane [m/cell].	1.0
num_grids	int	Map xy Grid number	20
resolution*num_grids	double	Map xy Size [m]	20.0
visialize_frame_id	string	visualize rviz	map
point_buffer_size	int	circular buffer size in PointCloud	2
scan_buffer_size	int	circular buffer size in LaserScan	2

複数のレイヤーを作成して、時系列処理を行う point_layer:Point_cloudからの情報を表示 scan_layer:laser_scanからの情報を表示