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oguzkaganoztoguzkaganozt
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add param and schema file, edit readme
Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com>
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‎perception/occupancy_grid_map_outlier_filter/CMakeLists.txt

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@@ -44,4 +44,7 @@ rclcpp_components_register_node(occupancy_grid_map_outlier_filter
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PLUGIN "occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent"
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EXECUTABLE occupancy_grid_map_outlier_filter_node)
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ament_auto_package(INSTALL_TO_SHARE)
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ament_auto_package(
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INSTALL_TO_SHARE
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config
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)

‎perception/occupancy_grid_map_outlier_filter/README.md

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@@ -40,17 +40,7 @@ The following video is a sample. Yellow points are high occupancy probability, g
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## Parameters
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| Name | Type | Description |
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| ------------------------------------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| `map_frame` | string | map frame id |
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| `base_link_frame` | string | base link frame id |
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| `cost_threshold` | int | Cost threshold of occupancy grid map (0~100). 100 means 100% probability that there is an obstacle, close to 50 means that it is indistinguishable whether it is an obstacle or free space, 0 means that there is no obstacle. |
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| `enable_debugger` | bool | Whether to output the point cloud for debugging. |
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| `use_radius_search_2d_filter` | bool | Whether or not to apply density-based outlier filters to objects that are judged to have low probability of occupancy on the occupancy grid map. |
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| `radius_search_2d_filter/search_radius` | float | Radius when calculating the density |
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| `radius_search_2d_filter/min_points_and_distance_ratio` | float | Threshold value of the number of point clouds per radius when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink. |
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| `radius_search_2d_filter/min_points` | int | Minimum number of point clouds per radius |
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| `radius_search_2d_filter/max_points` | int | Maximum number of point clouds per radius |
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{{ json_to_markdown("perception/occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }}
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## Assumptions / Known limits
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‎perception/occupancy_grid_map_outlier_filter/config/occupancy_grid_map_outlier_filter.param.yaml

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/**:
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ros__parameters:
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radius_search_2d_filter.search_radius: 1.0f
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radius_search_2d_filter.min_points_and_distance_ratio: 400.0f
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radius_search_2d_filter.min_points: 4
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radius_search_2d_filter.max_points: 70
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radius_search_2d_filter.max_filter_points_nb: 15000
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map_frame: "map"
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base_link_frame: "base_link"
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cost_threshold: 45
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use_radius_search_2d_filter: true
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enable_debugger: false

‎perception/occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for occupancy_grid_map_outlier",
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"type": "object",
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"definitions": {
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"occupancy_grid_map_outlier": {
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"type": "object",
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"properties": {
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"radius_search_2d_filter.search_radius": {
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"type": "number",
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"default": 1.0,
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"description": "Radius when calculating the density"
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},
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"radius_search_2d_filter.min_points_and_distance_ratio": {
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"type": "number",
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"default": 400.0,
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"description": "Threshold value of the number of point clouds per radius when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink"
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},
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"radius_search_2d_filter.min_points": {
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"type": "number",
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"default": 4,
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"description": "Minimum number of point clouds per radius"
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},
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"radius_search_2d_filter.max_points": {
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"type": "number",
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"default": 70,
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"description": "Maximum number of point clouds per radius"
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},
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"radius_search_2d_filter.max_filter_points_nb": {
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"type": "number",
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"default": 15000,
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"description": "Maximum number of point clouds to be filtered"
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},
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"map_frame": {
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"type": "string",
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"default": "map",
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"description": "map frame id"
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},
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"base_link_frame": {
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"type": "string",
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"default": "base_link",
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"description": "base link frame id"
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},
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"cost_threshold": {
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"type": "number",
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"default": 45,
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"description": "Cost threshold of occupancy grid map (0~100). 100 means 100% probability that there is an obstacle, close to 50 means that it is indistinguishable whether it is an obstacle or free space, 0 means that there is no obstacle"
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},
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"use_radius_search_2d_filter": {
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"type": "boolean",
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"default": true,
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"description": "Whether or not to apply density-based outlier filters to objects that are judged to have low probability of occupancy on the occupancy grid map"
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},
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"enable_debugger": {
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"type": "boolean",
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"default": false,
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"description": "Whether to output the point cloud for debugging"
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}
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},
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"required": [
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"radius_search_2d_filter.search_radius",
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"radius_search_2d_filter.min_points_and_distance_ratio",
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"radius_search_2d_filter.min_points",
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"radius_search_2d_filter.max_points",
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"radius_search_2d_filter.max_filter_points_nb",
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"map_frame",
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"base_link_frame",
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"cost_threshold",
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"use_radius_search_2d_filter",
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"enable_debugger"
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]
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/occupancy_grid_map_outlier"
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

‎perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp

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@@ -105,13 +105,13 @@ namespace occupancy_grid_map_outlier_filter
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{
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RadiusSearch2dFilter::RadiusSearch2dFilter(rclcpp::Node & node)
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{
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search_radius_ = node.declare_parameter("radius_search_2d_filter.search_radius", 1.0f);
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search_radius_ = node.declare_parameter<float>("radius_search_2d_filter.search_radius");
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min_points_and_distance_ratio_ =
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node.declare_parameter("radius_search_2d_filter.min_points_and_distance_ratio", 400.0f);
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min_points_ = node.declare_parameter("radius_search_2d_filter.min_points", 4);
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max_points_ = node.declare_parameter("radius_search_2d_filter.max_points", 70);
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node.declare_parameter<float>("radius_search_2d_filter.min_points_and_distance_ratio");
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min_points_ = node.declare_parameter<int>("radius_search_2d_filter.min_points");
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max_points_ = node.declare_parameter<int>("radius_search_2d_filter.max_points", 70);
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max_filter_points_nb_ =
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node.declare_parameter("radius_search_2d_filter.max_filter_points_nb", 15000);
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node.declare_parameter<int>("radius_search_2d_filter.max_filter_points_nb", 15000);
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kd_tree_ = pcl::make_shared<pcl::search::KdTree<pcl::PointXY>>(false);
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}
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}
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/* params */
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map_frame_ = declare_parameter("map_frame", "map");
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base_link_frame_ = declare_parameter("base_link_frame", "base_link");
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cost_threshold_ = declare_parameter("cost_threshold", 45);
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auto use_radius_search_2d_filter = declare_parameter("use_radius_search_2d_filter", true);
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auto enable_debugger = declare_parameter("enable_debugger", false);
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map_frame_ = declare_parameter<std::string>("map_frame");
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base_link_frame_ = declare_parameter<std::string>("base_link_frame");
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cost_threshold_ = declare_parameter<int>("cost_threshold");
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auto use_radius_search_2d_filter = declare_parameter<bool>("use_radius_search_2d_filter");
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auto enable_debugger = declare_parameter<bool>("enable_debugger");
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/* tf */
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tf2_ = std::make_shared<tf2_ros::Buffer>(get_clock());

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