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Overview

The range_sensor_layer is a plugin for the LayeredCostmap in costmap_2d, that uses the sensor_msgs/Range message. It is intended for use with sonar and infrared data.

The Range messages are integrated into the costmap by using a probabilistic model.

Cells with a probability higher than the mark_threshold are marked as lethal obstacles in the master costmap. Cells with a probability lower than the clear_threshold are marked as free space in the master costmap.

API

Subscribed Topics

"topics" (sensor_msgs/Range)

• ranged sensor data

Parameters

ns (string, default: "")

• Namespace that is prepended to all topic names

topics (Array of strings, default: ['/sonar'])

• List of Range topics to subscribe to

no_readings_timeout (double, default: 0.0)

• If zero, this parameter has no effect. Otherwise if the layer does not receive sensor data for this amount of time, the layer will warn the user and the layer will be marked as not current.

clear_threshold (double, default: .2)

• Cells with a probability lower than the clear_threshold are marked as free space in the master costmap.

mark_threshold (double, default: .8)

• Cells with a probability higher than the mark_threshold are marked as lethal obstacles in the master costmap.

clear_on_max_reading (bool, default: false)

• Whether to clear the sensor readings on max. range

Usage

This layer can be used by adding the following values to the plugins parameter in your costmap.

      - {name: sonar,   type: "range_sensor_layer::RangeSensorLayer"}