Package Summary
Released No API documentation
range_sensor_layer
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>
- Author: David!!
- License: BSD
Package Summary
Released Continuous integration Documented
Navigation Layer for Range sensors like sonar and IR
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>
- Author: David!!
- License: BSD
- Source: git https://github.com/DLu/navigation_layers.git (branch: indigo)
Package Summary
Released Continuous integration Documented
Navigation Layer for Range sensors like sonar and IR
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>
- Author: David!!
- License: BSD
- Source: git https://github.com/DLu/navigation_layers.git (branch: indigo)
Package Summary
Released Continuous integration Documented
Navigation Layer for Range sensors like sonar and IR
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>
- Author: David!!
- License: BSD
- Source: git https://github.com/DLu/navigation_layers.git (branch: indigo)
Contents
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
- List of Range topics to subscribe to
- 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.
- Cells with a probability lower than the clear_threshold are marked as free space in the master costmap.
- Cells with a probability higher than the mark_threshold are marked as lethal obstacles in the master costmap.
- 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"}