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gmappingTypes.hpp
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gmappingTypes.hpp
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#ifndef gmapping_TYPES_HPP
#define gmapping_TYPES_HPP
/* If you need to define types specific to your oroGen components, define them
* here. Required headers must be included explicitly
*
* However, it is common that you will only import types from your library, in
* which case you do not need this file
*/
#include <string>
#include <base/time.h>
#include <base/pose.h>
#include <vector>
namespace gmapping {
struct Config {
bool inverted_laser; // (bool, default: false)
//
int throttle_scans; // (int, default: 1)
// Process 1 out of every this many scans (set it to a higher number to skip more scans)
std::string laser_frame; // (string, default: "laser")
// The frame attached to the laser.
std::string base_frame; // (string, default: "base_link")
// The frame attached to the mobile base.
std::string map_frame; // (string, default: "map")
// The frame attached to the map.
std::string odom_frame; // (string, default: "odom")
// The frame attached to the odometry system.
float map_update_interval; // (float, default: 5.0)
// How long (in seconds) between updates to the map. Lowering this number updates the occupancy grid more often, at the expense of greater computational load.
float maxUrange; // (float, default: 80.0)
// The maximum usable range of the laser. A beam is cropped to this value.
float sigma; // (float, default: 0.05)
// The sigma used by the greedy endpoint matching
int kernelSize; // (int, default: 1)
// The kernel in which to look for a correspondence
float lstep; // (float, default: 0.05)
// The optimization step in translation
float astep; // (float, default: 0.05)
// The optimization step in rotation
int iterations; // (int, default: 5)
// The number of iterations of the scanmatcher
float lsigma; // (float, default: 0.075)
// The sigma of a beam used for likelihood computation
float ogain; // (float, default: 3.0)
// Gain to be used while evaluating the likelihood, for smoothing the resampling effects
int lskip; // (int, default: 0)
// Number of beams to skip in each scan.
float srr; // (float, default: 0.1)
// Odometry error in translation as a function of translation (rho/rho)
float srt; // (float, default: 0.2)
// Odometry error in translation as a function of rotation (rho/theta)
float str; // (float, default: 0.1)
// Odometry error in rotation as a function of translation (theta/rho)
float stt; // (float, default: 0.2)
// Odometry error in rotation as a function of rotation (theta/theta)
float linearUpdate; // (float, default: 1.0)
// Process a scan each time the robot translates this far
float angularUpdate; // (float, default: 0.5)
// Process a scan each time the robot rotates this far
float temporalUpdate; // (float, default: -1.0)
// Process a scan if the last scan proccessed is older than the update time in seconds. A value less than zero will turn time based updates off.
float resampleThreshold; // (float, default: 0.5)
// The Neff based resampling threshold
int particles; // (int, default: 30)
// Number of particles in the filter
float xmin; // (float, default: -100.0)
// Initial map size
float ymin; // (float, default: -100.0)
// Initial map size
float xmax; // (float, default: 100.0)
// Initial map size
float ymax; // (float, default: 100.0)
// Initial map size
float delta; // (float, default: 0.05)
// Processing parameters (resolution of the map)
float llsamplerange; // (float, default: 0.01)
// Translational sampling range for the likelihood
float llsamplestep; // (float, default: 0.01)
// Translational sampling step for the likelihood
float lasamplerange; // (float, default: 0.005)
// Angular sampling range for the likelihood
float lasamplestep; // (float, default: 0.005)
// Angular sampling step for the likelihood
float transform_publish_period; // (float, default: 0.05)
// How long (in seconds) between transform publications.
float occ_thresh; // (float, default: 0.25)
// Threshold on gmapping's occupancy values. Cells with greater occupancy are considered occupied (i.e., set to 100 in the resulting sensor_msgs/LaserScan). New in 1.1.0.
float maxRange; //(float, default: NULL)
// The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free space in the map, set maxUrange < maximum range of the real sensor <= maxRange.
Config() : inverted_laser(false)
, throttle_scans(1)
, laser_frame("laser")
, base_frame("base_link")
, map_frame("map")
, odom_frame("odom")
, map_update_interval(1.0)
, maxUrange(60.0)
, sigma(0.05)
, kernelSize(1)
, lstep(0.05)
, astep(0.05)
, iterations(5)
, lsigma(0.075)
, ogain(3.0)
, lskip(0)
, srr(0.1)
, srt(0.2)
, str(0.1)
, stt(0.2)
, linearUpdate(0.5)
, angularUpdate(0.2)
, temporalUpdate(-1.0)
, resampleThreshold(0.5)
, particles(30)
, xmin(-25.0) // -100.0
, ymin(-25.0)
, xmax(25.0)
, ymax(25.0)
, delta(0.05)
, llsamplerange(0.01)
, llsamplestep(0.01)
, lasamplerange(0.005)
, lasamplestep(0.005)
, transform_publish_period(0.05)
, occ_thresh(0.25)
, maxRange(60.0) {}
};
struct OccupancyGrid
{
base::Time stamp;
std::string frame_id;
base::Time map_load_time;
float resolution;
uint32_t height;
uint32_t width;
base::Pose origin;
std::vector<uint8_t> data;
};
/* wrapper for base::samples::LaserScan as it doesnot support floating range values */
struct Laser
{
base::Time time;
double start_angle;
double angular_resolution;
std::vector<double> ranges;
double minRange;
double maxRange;
};
}
#endif