Diogo Matos


The navigability_map package



How to use the the Class Navigability_Map

This is what you should do

use the main.cpp file

Then you must subscribe the desired topic

With this class you should subscribe a sensor_msgs::PointCloud2 (create respective Callback)

You must set the parameters in the lauch file

Publish the disire topics, marker of the maps and normals and a possible filtered PointCloud

To make it simple:

Using the main.cpp

Example of a xml launch file for the navigability_map pkg

<?xml version="1.0"?>
<!-- This is a atlasmv launch files for starting a accessibility map -->
<group ns="/navigability_map">
<!-- Remmaping topics-->
<remap from="/pointcloud0" to="/snr/las3d/fus/pointcloud"/>
<node name="nav_map" pkg="navigability_map" type="nav_map">
<!-- PARAM -->
<param name="output_frequency" value="200.0"/>
<!-- PointCloud distance filters -->
<param name="PointCLoud_Xmin_filter" type="double" value="0"/>
<param name="PointCLoud_Xmax_filter" type="double" value="25.0"/>
<param name="PointCLoud_Ymax_filter" type="double" value="25.0"/>
<param name="PointCLoud_Ymin_filter" type="double" value="-25.0"/>
<param name="PointCLoud_Zmax_filter" type="double" value="2"/>
<param name="PointCLoud_Zmin_filter" type="double" value="-10.0"/>
<!-- Cells dimension -->
<param name="Grid_Sx" type="double" value="0.35"/>
<param name="Grid_Sy" type="double" value="0.35"/>
<!-- Normal Estimation -->
<param name="Radius_neighbors" type="double" value="0.4"/>
<param name="K_neighbors" type="int" value="20"/>
<!-- 1 - Use radius search method;
0 - Use neighbours search method -->
<param name="Use_Radius_Search" type="int" value="1"/>
<!-- Acessibility thresholds -->
<param name="Zmax_heigh_difference" type="double" value="0.1"/>
<param name="angleX_max_difference" type="double" value="0.2"/>
<param name="angleY_max_difference" type="double" value="0.2"/>
<param name="angleZ_max_difference" type="double" value="0.2"/>
<!-- Confidence value for a cell with 1 point -->
<param name="default_confidence" type="double" value="0.5"/>
<!-- Normalization constants for the confidence -->
<param name="Standard_Deviation_max_confidence" type="double" value="0.4"/>
<param name="Standard_Deviation_anglex_max_confidence" type="double" value="0.8"/>
<param name="Standard_Deviation_angley_max_confidence" type="double" value="0.8"/>
<param name="Standard_Deviation_anglez_max_confidence" type="double" value="0.8"/>
<param name="fator_confidence_neighbour_limit" type="double" value="1"/>
<!-- 1 - Z accessibility;
2 - Angle X accessibility
3 - Angle Y accessibility
4 - Angle Z accessibility
5 - Total accessibility -->
<param name="debug_accessibility" type="int" value="5"/>

Author(s): Diogo Matos
autogenerated on Mon Mar 2 2015 01:32:29