costmap_generator

costmap_generator_node

This node reads PointCloud and/or DynamicObjectArray and creates an OccupancyGrid and GridMap. VectorMap(Lanelet2) is optional.

Input topics

Name	Type	Description
~input/objects	autoware_auto_perception_msgs::PredictedObjects	predicted objects, for obstacles areas
~input/points_no_ground	sensor_msgs::PointCloud2	ground-removed points, for obstacle areas which can't be detected as objects
~input/vector_map	autoware_auto_mapping_msgs::HADMapBin	vector map, for drivable areas
~input/scenario	tier4_planning_msgs::Scenario	scenarios to be activated, for node activation

Output topics

Name	Type	Description
~output/grid_map	grid_map_msgs::GridMap	costmap as GridMap, values are from 0.0 to 1.0
~output/occupancy_grid	nav_msgs::OccupancyGrid	costmap as OccupancyGrid, values are from 0 to 100

Output TFs

None

How to launch

1. Execute the command source install/setup.bash to setup the environment

2. Run ros2 launch costmap_generator costmap_generator.launch.xml to launch the node

Parameters

Name	Type	Description
update_rate	double	timer's update rate
activate_by_scenario	bool	if true, activate by scenario = parking. Otherwise, activate if vehicle is inside parking lot.
use_objects	bool	whether using ~input/objects or not
use_points	bool	whether using ~input/points_no_ground or not
use_wayarea	bool	whether using wayarea from ~input/vector_map or not
use_parkinglot	bool	whether using parkinglot from ~input/vector_map or not
costmap_frame	string	created costmap's coordinate
vehicle_frame	string	vehicle's coordinate
map_frame	string	map's coordinate
grid_min_value	double	minimum cost for gridmap
grid_max_value	double	maximum cost for gridmap
grid_resolution	double	resolution for gridmap
grid_length_x	int	size of gridmap for x direction
grid_length_y	int	size of gridmap for y direction
grid_position_x	int	offset from coordinate in x direction
grid_position_y	int	offset from coordinate in y direction
maximum_lidar_height_thres	double	maximum height threshold for pointcloud data
minimum_lidar_height_thres	double	minimum height threshold for pointcloud data
expand_rectangle_size	double	expand object's rectangle with this value
size_of_expansion_kernel	int	kernel size for blurring effect on object's costmap

Flowchart

@startuml
title onTimer
start

if (scenario is active?) then (yes)
else (no)
  stop
endif

:get current pose;

:set the center of costmap to current pose;

if (use wayarea or use parkinglot?) then (yes)
 :generate map primitives costmap;
endif

if (use objects?) then (yes)
 :generate objects costmap;
endif

if (use points?) then (yes)
 :generate points costmap;
endif

:combine costmap;

:publish costmap;

stop
@enduml