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Local Mapper
Assem Sadek edited this page Jan 23, 2024
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ros2 launch kompass_ros local_mapper_launch.py params_file:=PATH_TO_PARAMS_FILE
| parameter name | type | default value | description |
|---|---|---|---|
| base_frame | string | base_link | robot tf frame |
| ref_frame | string | map | reference tf frame |
| resolution | float | 0.5 | map resolution in m/cell |
| width | float | 40.0 | map width in m |
| height | float | 40.0 | map height in m |
| padding | float | 0.0 | padding around obstacles in m |
| detections_topic | string | detections | semantic detections topic name |
| laser_scan_topic | string | scan | laser scan topic name |
| publish_frequency | float | 1.0 | publish rate for layers and obstacles |
| message type | default topic name | description |
|---|---|---|
| sensor_msgs/LaserScan | /scan | laser scan for LiDAR data |
| kompass_interfaces/detections | /detections | detected semantics inside the current RGB frame and projected using the aligned depth |
| message type | default topic name | description |
|---|---|---|
| nav_msgs/OccupancyGrid | occupancy_layer | mix of occupied cells between laser scan and semantic detections |
| nav_msgs/OccupancyGrid | semantic_layer | semantic detections type on map |
| kompass_interfaces/Obstacles | obstacles | semantics and laser scan obstacles information and positions |