chore: costmap integration (#22)

* launch costmap_generator Signed-off-by: Autumn60 <[email protected]> * add costmap to rviz Signed-off-by: Autumn60 <[email protected]> --------- Signed-off-by: Autumn60 <[email protected]>
booars · Aug 31, 2024 · 1b596fb · 1b596fb
1 parent 839feb6
commit 1b596fb
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Showing 4 changed files with 431 additions and 87 deletions.
diff --git a/...rkspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml b/...rkspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml
@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+    update_rate: 10.0
+    map_frame_id: "map"
+    costmap_center_frame_id: "base_link"
+    costmap_width: 50.0
+    costmap_resolution: 0.2
+    multi_layered_costmap:
+      layers:
+        - "lanelet_layer"
+        - "predicted_object_layer"
+      lanelet_layer:
+        type: "lanelet"
+        map_topic: "/map/vector_map"
+      predicted_object_layer:
+        type: "predicted_object"
+        predicted_objects_topic: "/perception/object_recognition/objects"
+        distance_threshold: 1.0
diff --git a/...enge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/...enge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
@@ -100,5 +100,16 @@
       </node>
 
     </group>
+
+    <!-- costmap -->
+    <group>
+      <push-ros-namespace namespace="costmap"/>
+
+      <!-- Costmap Generator -->
+      <include file="$(find-pkg-share booars_costmap_generator)/launch/costmap_generator.launch.xml">
+        <arg name="config_file" value="$(find-pkg-share booars_launch)/config/planning/costmap_generator.param.yaml"/>
+        <!-- <arg name="costmap_topic" value="~/costmap"/> -->
+      </include>
+    </group>
   </group>
 </launch>
diff --git a/...c/aichallenge_submit/costmap/booars_costmap_generator/launch/costmap_generator.launch.xml b/...c/aichallenge_submit/costmap/booars_costmap_generator/launch/costmap_generator.launch.xml
@@ -1,7 +1,10 @@
 <launch>
   <arg name="config_file" default="$(find-pkg-share booars_costmap_generator)/config/costmap_generator.param.yaml"/>
 
+  <arg name="costmap_topic" default="~/costmap"/>
+
   <node pkg="booars_costmap_generator" exec="costmap_generator_node" name="costmap_generator" output="screen">
     <param from="$(var config_file)"/>
+    <remap from="~/output/costmap" to="$(var costmap_topic)"/>
   </node>
 </launch>