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refactor(probabilistic_occupancy_grid_map): rework parameters (autowarefoundation#7339)
* refactor(probabilistic_occupancy_grid_map): rework parameters Signed-off-by: Boyang <tby@udel.edu> * style(pre-commit): autofix * Solved the CI's complainment Signed-off-by: Boyang <tby@udel.edu> --------- Signed-off-by: Boyang <tby@udel.edu> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: chtseng <chtseng@itri.org.tw>
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‎perception/probabilistic_occupancy_grid_map/README.md

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2020
![image_for_frame_parameter_visualization](./image/gridmap_frame_settings.drawio.svg)
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### Each config parameters
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Config parameters are managed in `config/*.yaml` and here shows its outline.
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- Pointcloud based occupancy grid map
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| Ros param name | Default value |
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| -------------------------------------------- | ------------- |
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| map_frame | "map" |
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| base_link_frame | "base_link" |
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| scan_origin_frame | "base_link" |
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| gridmap_origin_frame | "base_link" |
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| use_height_filter | true |
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| enable_single_frame_mode | false |
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| filter_obstacle_pointcloud_by_raw_pointcloud | false |
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| map_length | 150.0 [m] |
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| map_resolution | 0.5 [m] |
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| use_projection | false |
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| projection_dz_threshold | 0.01 |
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| obstacle_separation_threshold | 1.0 |
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| input_obstacle_pointcloud | true |
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| input_obstacle_and_raw_pointcloud | true |
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- Laserscan based occupancy grid map
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| Ros param name | Default value |
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| ------------------------ | ------------- |
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| map_length | 150 [m] |
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| map_width | 150 [m] |
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| map_resolution | 0.5 [m] |
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| use_height_filter | true |
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| enable_single_frame_mode | false |
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| map_frame | "map" |
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| base_link_frame | "base_link" |
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| scan_origin_frame | "base_link" |
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| gridmap_origin_frame | "base_link" |
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## Other parameters
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Additional argument is shown below:
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| Name | Default | Description |
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| ----------------------------------- | ------------------------------ | --------------------------------------------------------------------------------------------- |
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| `use_multithread` | `false` | whether to use multithread |
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| `use_intra_process` | `false` | |
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| `map_origin` | `` | parameter to override `map_origin_frame` which means grid map origin |
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| `scan_origin` | `` | parameter to override `scan_origin_frame` which means scanning center |
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| `output` | `occupancy_grid` | output name |
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| `use_pointcloud_container` | `false` | |
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| `container_name` | `occupancy_grid_map_container` | |
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| `input_obstacle_pointcloud` | `false` | only for laserscan based method. If true, the node subscribe obstacle pointcloud |
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| `input_obstacle_and_raw_pointcloud` | `true` | only for laserscan based method. If true, the node subscribe both obstacle and raw pointcloud |
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### Parameters
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{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }}
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{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }}
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{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }}
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{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }}
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{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }}
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{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }}
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### Downsample input pointcloud(Optional)
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‎perception/probabilistic_occupancy_grid_map/config/grid_map_param.yaml ‎perception/probabilistic_occupancy_grid_map/config/grid_map.param.yaml

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‎perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.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 Binary Bayes Filter Updater",
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"type": "object",
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"definitions": {
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"binary_bayes_filter_updater": {
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"type": "object",
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"properties": {
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"probability_matrix": {
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"type": "object",
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"properties": {
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"occupied_to_occupied": {
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"type": "number",
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"description": "Probability of transitioning from occupied to occupied state.",
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"default": 0.95
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},
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"occupied_to_free": {
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"type": "number",
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"description": "Probability of transitioning from occupied to free state.",
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"default": 0.05
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},
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"free_to_occupied": {
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"type": "number",
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"description": "Probability of transitioning from free to occupied state.",
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"default": 0.2
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},
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"free_to_free": {
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"type": "number",
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"description": "Probability of transitioning from free to free state.",
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"default": 0.8
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}
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},
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"required": [
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"occupied_to_occupied",
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"occupied_to_free",
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"free_to_occupied",
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"free_to_free"
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]
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},
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"v_ratio": {
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"type": "number",
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"description": "Ratio of the variance used in the filter.",
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"default": 0.1
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}
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},
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"required": ["probability_matrix", "v_ratio"]
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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/binary_bayes_filter_updater"
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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/probabilistic_occupancy_grid_map/schema/grid_map.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 Grid Map",
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"type": "object",
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"definitions": {
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"visualization_params": {
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"type": "object",
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"properties": {
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"type": {
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"type": "string",
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"description": "The type of grid map visualization.",
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"default": "occupancy_grid"
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},
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"params": {
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"type": "object",
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"properties": {
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"layer": {
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"type": "string",
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"description": "The layer of the grid map visualization.",
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"default": "filled_free_to_farthest"
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},
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"data_min": {
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"type": "number",
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"description": "The minimum data value for the visualization.",
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"default": 0.0
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},
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"data_max": {
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"type": "number",
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"description": "The maximum data value for the visualization.",
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"default": 100.0
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}
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},
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"required": ["layer", "data_min", "data_max"]
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}
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},
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"required": ["type", "params"]
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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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"type": "object",
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"properties": {
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"grid_map_topic": {
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"type": "string",
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"description": "The topic name for the grid map.",
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"default": "/perception/occupancy_grid_map/occupancy_grid_map_node/debug/grid_map"
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},
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"grid_map_visualizations": {
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"type": "array",
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"description": "List of grid map visualizations.",
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"items": {
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"type": "string"
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},
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"default": ["grid_1st_step", "grid_2nd_step", "grid_3rd_step"]
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},
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"grid_1st_step": { "$ref": "#/definitions/visualization_params" },
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"grid_2nd_step": { "$ref": "#/definitions/visualization_params" },
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"grid_3rd_step": { "$ref": "#/definitions/visualization_params" }
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},
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"required": [
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"grid_map_topic",
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"grid_map_visualizations",
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"grid_1st_step",
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"grid_2nd_step",
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"grid_3rd_step"
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]
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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/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.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 Laserscan Based Occupancy Grid Map",
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"type": "object",
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"definitions": {
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"height_filter_params": {
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"type": "object",
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"properties": {
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"use_height_filter": {
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"type": "boolean",
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"description": "Flag to use height filter.",
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"default": true
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},
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"min_height": {
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"type": "number",
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"description": "Minimum height for the height filter.",
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"default": -1.0
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},
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"max_height": {
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"type": "number",
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"description": "Maximum height for the height filter.",
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"default": 2.0
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}
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},
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"required": ["use_height_filter", "min_height", "max_height"]
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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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"type": "object",
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"properties": {
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"map_frame": {
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"type": "string",
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"description": "The frame ID of the map.",
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"default": "map"
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},
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"base_link_frame": {
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"type": "string",
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"description": "The frame ID of the base link.",
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"default": "base_link"
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},
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"gridmap_origin_frame": {
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"type": "string",
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"description": "The frame ID of the grid map origin.",
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"default": "base_link"
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},
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"scan_origin_frame": {
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"type": "string",
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"description": "The frame ID of the scan origin.",
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"default": "base_link"
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},
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"height_filter": { "$ref": "#/definitions/height_filter_params" },
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"enable_single_frame_mode": {
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"type": "boolean",
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"description": "Flag to enable single frame mode.",
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"default": false
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},
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"map_length": {
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"type": "number",
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"description": "The length of the map.",
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"default": 150.0
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},
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"map_width": {
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"type": "number",
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"description": "The width of the map.",
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"default": 150.0
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},
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"map_resolution": {
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"type": "number",
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"description": "The resolution of the map.",
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"default": 0.5
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}
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},
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"required": [
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"map_frame",
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"base_link_frame",
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"gridmap_origin_frame",
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"scan_origin_frame",
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"height_filter",
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"enable_single_frame_mode",
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"map_length",
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"map_width",
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"map_resolution"
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]
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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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}

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