| odom_frame |
Frame used for odometry. |
Any string |
"odom" |
| robot_frame |
Frame centered on the robot. |
Any string |
"base_link" |
| initial_map_file_name |
Path of the file from which the initial map is loaded. |
Any file path |
"" |
| initial_map_pose |
Transformation matrix in homogeneous coordinates describing the pose of the initial map in the current map frame. |
Any matrix of dimension 3 or 4 |
"[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]" |
| final_map_file_name |
Path of the file in which the final map is saved when is_online is false. |
Any file path |
"map.vtk" |
| final_trajectory_file_name |
Path of the file in which the final trajectory is saved when is_online is false. |
Any file path |
"trajectory.vtk" |
| icp_config |
Path of the file containing the libpointmatcher icp config. |
Any file path |
"" |
| input_filters_config |
Path of the file containing the filters applied to the sensor points. |
Any file path |
"" |
| map_post_filters_config |
Path of the file containing the filters applied to the map after the update. |
Any file path |
"" |
| map_update_condition |
Condition for map update. |
{"overlap", "delay", "distance"} |
"overlap" |
| map_update_overlap |
Overlap between sensor and map points under which the map is updated. |
[0, 1] |
0.9 |
| map_update_delay |
Delay since last map update over which the map is updated (in seconds). |
[0, ∞) |
1 |
| map_update_distance |
Euclidean distance from last map update over which the map is updated (in meters). |
[0, ∞) |
0.5 |
| map_publish_rate |
Rate at which the map is published (in Hertz). It can be slower depending on the map update rate. |
(0, ∞) |
10 |
| map_tf_publish_rate |
Rate at which the map tf is published (in Hertz). |
(0, ∞) |
10 |
| max_idle_time |
Delay to wait being idle before shutting down ROS when is_online is false (in seconds). |
[0, ∞) |
10 |
| min_dist_new_point |
Distance from current map points under which a new point is not added to the map (in meters). |
[0, ∞) |
0.03 |
| sensor_max_range |
Maximum reading distance of the laser (in meters). |
[0, ∞) |
80 |
| prior_dynamic |
A priori probability of points being dynamic. |
[0, 1] |
0.6 |
| threshold_dynamic |
Probability at which a point is considered permanently dynamic. |
[0, 1] |
0.9 |
| beam_half_angle |
Half angle of the cones formed by the sensor laser beams (in rad). |
[0, π/2] |
0.01 |
| epsilon_a |
Error proportional to the sensor distance. |
[0, ∞) |
0.01 |
| epsilon_d |
Fix error on the sensor distance (in meters). |
[0, ∞) |
0.01 |
| alpha |
Probability of staying static given that the point was static. |
[0, 1] |
0.8 |
| beta |
Probability of staying dynamic given that the point was dynamic. |
[0, 1] |
0.99 |
| is_3D |
true when a 3D sensor is used, false when a 2D sensor is used. |
{true, false} |
true |
| is_online |
true when online mapping is wanted, false otherwise. |
{true, false} |
true |
| compute_prob_dynamic |
true when computation of probability of points being dynamic is wanted, false otherwise. |
{true, false} |
false |
| is_mapping |
true when map updates are wanted, false when only localization is wanted. |
{true, false} |
true |