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refactor(probabilistic_occupancy_grid_map): rework parameters #7339

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refactor(probabilistic_occupancy_grid_map): rework parameters #7339

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refactor(probabilistic_occupancy_grid_map): rework parameters
tby-udel Jun 6, 2024
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style(pre-commit): autofix
pre-commit-ci[bot] Jun 21, 2024
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Solved the CI's complainment
tby-udel Jul 6, 2024
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60 changes: 8 additions & 52 deletions perception/probabilistic_occupancy_grid_map/README.md
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Expand Up @@ -19,58 +19,14 @@ You may need to choose `scan_origin_frame` and `gridmap_origin_frame` which mean

![image_for_frame_parameter_visualization](./image/gridmap_frame_settings.drawio.svg)

### Each config parameters

Config parameters are managed in `config/*.yaml` and here shows its outline.

- Pointcloud based occupancy grid map

| Ros param name | Default value |
| -------------------------------------------- | ------------- |
| map_frame | "map" |
| base_link_frame | "base_link" |
| scan_origin_frame | "base_link" |
| gridmap_origin_frame | "base_link" |
| use_height_filter | true |
| enable_single_frame_mode | false |
| filter_obstacle_pointcloud_by_raw_pointcloud | false |
| map_length | 150.0 [m] |
| map_resolution | 0.5 [m] |
| use_projection | false |
| projection_dz_threshold | 0.01 |
| obstacle_separation_threshold | 1.0 |
| input_obstacle_pointcloud | true |
| input_obstacle_and_raw_pointcloud | true |

- Laserscan based occupancy grid map

| Ros param name | Default value |
| ------------------------ | ------------- |
| map_length | 150 [m] |
| map_width | 150 [m] |
| map_resolution | 0.5 [m] |
| use_height_filter | true |
| enable_single_frame_mode | false |
| map_frame | "map" |
| base_link_frame | "base_link" |
| scan_origin_frame | "base_link" |
| gridmap_origin_frame | "base_link" |

## Other parameters

Additional argument is shown below:

| Name | Default | Description |
| ----------------------------------- | ------------------------------ | --------------------------------------------------------------------------------------------- |
| `use_multithread` | `false` | whether to use multithread |
| `use_intra_process` | `false` | |
| `map_origin` | `` | parameter to override `map_origin_frame` which means grid map origin |
| `scan_origin` | `` | parameter to override `scan_origin_frame` which means scanning center |
| `output` | `occupancy_grid` | output name |
| `use_pointcloud_container` | `false` | |
| `container_name` | `occupancy_grid_map_container` | |
| `input_obstacle_pointcloud` | `false` | only for laserscan based method. If true, the node subscribe obstacle pointcloud |
| `input_obstacle_and_raw_pointcloud` | `true` | only for laserscan based method. If true, the node subscribe both obstacle and raw pointcloud |
### Parameters

{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }}
{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }}
{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }}
{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }}
{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }}
{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }}

### Downsample input pointcloud(Optional)

Expand Down
0 ...pancy_grid_map/config/grid_map_param.yaml → ...pancy_grid_map/config/grid_map.param.yaml
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61 changes: 61 additions & 0 deletions perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json
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@@ -0,0 +1,61 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Binary Bayes Filter Updater",
"type": "object",
"definitions": {
"binary_bayes_filter_updater": {
"type": "object",
"properties": {
"probability_matrix": {
"type": "object",
"properties": {
"occupied_to_occupied": {
"type": "number",
"description": "Probability of transitioning from occupied to occupied state.",
"default": 0.95
},
"occupied_to_free": {
"type": "number",
"description": "Probability of transitioning from occupied to free state.",
"default": 0.05
},
"free_to_occupied": {
"type": "number",
"description": "Probability of transitioning from free to occupied state.",
"default": 0.2
},
"free_to_free": {
"type": "number",
"description": "Probability of transitioning from free to free state.",
"default": 0.8
}
},
"required": [
"occupied_to_occupied",
"occupied_to_free",
"free_to_occupied",
"free_to_free"
]
},
"v_ratio": {
"type": "number",
"description": "Ratio of the variance used in the filter.",
"default": 0.1
}
},
"required": ["probability_matrix", "v_ratio"]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/binary_bayes_filter_updater"
}
},
"required": ["ros__parameters"]
}
},
"required": ["/**"]
}
76 changes: 76 additions & 0 deletions perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Grid Map",
"type": "object",
"definitions": {
"visualization_params": {
"type": "object",
"properties": {
"type": {
"type": "string",
"description": "The type of grid map visualization.",
"default": "occupancy_grid"
},
"params": {
"type": "object",
"properties": {
"layer": {
"type": "string",
"description": "The layer of the grid map visualization.",
"default": "filled_free_to_farthest"
},
"data_min": {
"type": "number",
"description": "The minimum data value for the visualization.",
"default": 0.0
},
"data_max": {
"type": "number",
"description": "The maximum data value for the visualization.",
"default": 100.0
}
},
"required": ["layer", "data_min", "data_max"]
}
},
"required": ["type", "params"]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"grid_map_topic": {
"type": "string",
"description": "The topic name for the grid map.",
"default": "/perception/occupancy_grid_map/occupancy_grid_map_node/debug/grid_map"
},
"grid_map_visualizations": {
"type": "array",
"description": "List of grid map visualizations.",
"items": {
"type": "string"
},
"default": ["grid_1st_step", "grid_2nd_step", "grid_3rd_step"]
},
"grid_1st_step": { "$ref": "#/definitions/visualization_params" },
"grid_2nd_step": { "$ref": "#/definitions/visualization_params" },
"grid_3rd_step": { "$ref": "#/definitions/visualization_params" }
},
"required": [
"grid_map_topic",
"grid_map_visualizations",
"grid_1st_step",
"grid_2nd_step",
"grid_3rd_step"
]
}
},
"required": ["ros__parameters"]
}
},
"required": ["/**"]
}
94 changes: 94 additions & 0 deletions ...on/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Laserscan Based Occupancy Grid Map",
"type": "object",
"definitions": {
"height_filter_params": {
"type": "object",
"properties": {
"use_height_filter": {
"type": "boolean",
"description": "Flag to use height filter.",
"default": true
},
"min_height": {
"type": "number",
"description": "Minimum height for the height filter.",
"default": -1.0
},
"max_height": {
"type": "number",
"description": "Maximum height for the height filter.",
"default": 2.0
}
},
"required": ["use_height_filter", "min_height", "max_height"]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"map_frame": {
"type": "string",
"description": "The frame ID of the map.",
"default": "map"
},
"base_link_frame": {
"type": "string",
"description": "The frame ID of the base link.",
"default": "base_link"
},
"gridmap_origin_frame": {
"type": "string",
"description": "The frame ID of the grid map origin.",
"default": "base_link"
},
"scan_origin_frame": {
"type": "string",
"description": "The frame ID of the scan origin.",
"default": "base_link"
},
"height_filter": { "$ref": "#/definitions/height_filter_params" },
"enable_single_frame_mode": {
"type": "boolean",
"description": "Flag to enable single frame mode.",
"default": false
},
"map_length": {
"type": "number",
"description": "The length of the map.",
"default": 150.0
},
"map_width": {
"type": "number",
"description": "The width of the map.",
"default": 150.0
},
"map_resolution": {
"type": "number",
"description": "The resolution of the map.",
"default": 0.5
}
},
"required": [
"map_frame",
"base_link_frame",
"gridmap_origin_frame",
"scan_origin_frame",
"height_filter",
"enable_single_frame_mode",
"map_length",
"map_width",
"map_resolution"
]
}
},
"required": ["ros__parameters"]
}
},
"required": ["/**"]
}
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