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Package Summary

Continuous integration Documented

The lower_step_detector package

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About

This package detects lower step as a obstacle when you use a LRF with a lower angle.

Installation

To install the lower_step_detector package, you can install from source with the following commands:

  •    1 cd /(your catkin workspace)/src
       2 git clone https://github.com/CIR-KIT/lower_step_detector.git
       3 cd ..
       4 catkin_make
    

Usage

  •    1 roslaunch lower_step_detector hogehoge.launch
    

Parameters

  • laser_intensity_max: 1.5
    • 直線上のレーザ長で何[m]を平面とみなすか.段差がなければこれが最大値になるはず.デフォルトは1.5[m].
  • margine_between_plane_and_down_step: 1.0
    • 計算上平面と思うintensityから何[m]以上大きい場合に段差とみなすか.デフォルトは1.0[m]
  • virtual_laser_intensity: 1.0
    • 段差とみなした場合、何[m]の位置に障害物があると仮定するか.デフォルトは1[m].
  • laser_scan_range_deg: 180
    • LRF の認識範囲[°].デフォルトは180[°].
  • detect_step_angle_min_deg: 10.0
    • LRF 認識範囲の両端で段差検出を除外する範囲[°].指定方法は片側の角度設定.デフォルトは10[°].左右それぞれ10°カットする.
    • 例えば、高さ0.75[m], 30[°]傾けたセンサが地面を検出した際に出力する値を計算すると、中心から左右に50[°]傾く辺りから急激に大きな値を取り始め、80[°]から指数関数のような形状で増加する。
    • 両端はノイズが乗りやすいので、判定から除外すべき。
  • chunk_angle_for_noise_deg: 5.0
    • ノイズ対策.セグメントを何度毎に区切るか.デフォルトは5.0[°]
  • ratio_detect_in_chunk: 0.8
    • ノイズ対策.セグメント内でどの程度閾値を超えたら段差と判定するか.0.8[raito].

Wiki: lower_step_detector (last edited 2016-12-21 17:35:11 by MoriKen)