nav2_costmap_2d::VoxelLayer Class Reference

Takes laser and pointcloud data to populate a 3D voxel representation of the environment. More...

#include <nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.hpp>

Inheritance diagram for nav2_costmap_2d::VoxelLayer:

Collaboration diagram for nav2_costmap_2d::VoxelLayer:

Public Member Functions
	VoxelLayer ()
	Voxel Layer constructor.
virtual	~VoxelLayer ()
	Voxel Layer destructor.
virtual void	onInitialize ()
	Initialization process of layer on startup.
virtual void	updateBounds (double robot_x, double robot_y, double robot_yaw, double *min_x, double *min_y, double *max_x, double *max_y)
	Update the bounds of the master costmap by this layer's update dimensions. More...
void	updateOrigin (double new_origin_x, double new_origin_y)
	Update the layer's origin to a new pose, often when in a rolling costmap.
bool	isDiscretized ()
	If layer is discretely populated.
virtual void	matchSize ()
	Match the size of the master costmap.
virtual void	reset ()
	Reset this costmap.
virtual bool	isClearable ()
	If clearing operations should be processed on this layer or not.
Public Member Functions inherited from nav2_costmap_2d::ObstacleLayer
	ObstacleLayer ()
	A constructor.
virtual	~ObstacleLayer ()
	A destructor.
virtual void	updateCosts (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
	Update the costs in the master costmap in the window. More...
virtual void	deactivate ()
	Deactivate the layer.
virtual void	activate ()
	Activate the layer.
rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...
void	resetBuffersLastUpdated ()
	triggers the update of observations buffer
void	laserScanCallback (sensor_msgs::msg::LaserScan::ConstSharedPtr message, const std::shared_ptr< nav2_costmap_2d::ObservationBuffer > &buffer)
	A callback to handle buffering LaserScan messages. More...
void	laserScanValidInfCallback (sensor_msgs::msg::LaserScan::ConstSharedPtr message, const std::shared_ptr< nav2_costmap_2d::ObservationBuffer > &buffer)
	A callback to handle buffering LaserScan messages which need filtering to turn Inf values into range_max. More...
void	pointCloud2Callback (sensor_msgs::msg::PointCloud2::ConstSharedPtr message, const std::shared_ptr< nav2_costmap_2d::ObservationBuffer > &buffer)
	A callback to handle buffering PointCloud2 messages. More...
void	addStaticObservation (nav2_costmap_2d::Observation &obs, bool marking, bool clearing)
void	clearStaticObservations (bool marking, bool clearing)
Public Member Functions inherited from nav2_costmap_2d::CostmapLayer
	CostmapLayer ()
	CostmapLayer constructor.
bool	isDiscretized ()
	If layer is discrete.
virtual void	clearArea (int start_x, int start_y, int end_x, int end_y, bool invert)
	Clear an are in the costmap with the given dimension if invert, then clear everything except these dimensions.
void	addExtraBounds (double mx0, double my0, double mx1, double my1)
Public Member Functions inherited from nav2_costmap_2d::Layer
	Layer ()
	A constructor.
virtual	~Layer ()
	A destructor.
void	initialize (LayeredCostmap *parent, std::string name, tf2_ros::Buffer *tf, const nav2_util::LifecycleNode::WeakPtr &node, rclcpp::CallbackGroup::SharedPtr callback_group)
	Initialization process of layer on startup.
virtual void	onFootprintChanged ()
	LayeredCostmap calls this whenever the footprint there changes (via LayeredCostmap::setFootprint()). Override to be notified of changes to the robot's footprint.
std::string	getName () const
	Get the name of the costmap layer.
bool	isCurrent () const
	Check to make sure all the data in the layer is up to date. If the layer is not up to date, then it may be unsafe to plan using the data from this layer, and the planner may need to know. More...
bool	isEnabled () const
	Gets whether the layer is enabled.
const std::vector< geometry_msgs::msg::Point > &	getFootprint () const
	Convenience function for layered_costmap_->getFootprint().
void	declareParameter (const std::string &param_name, const rclcpp::ParameterValue &value)
	Convenience functions for declaring ROS parameters.
void	declareParameter (const std::string &param_name, const rclcpp::ParameterType &param_type)
	Convenience functions for declaring ROS parameters.
bool	hasParameter (const std::string &param_name)
	Convenience functions for declaring ROS parameters.
std::string	getFullName (const std::string &param_name)
	Convenience functions for declaring ROS parameters.
Public Member Functions inherited from nav2_costmap_2d::Costmap2D
	Costmap2D (unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value=0)
	Constructor for a costmap. More...
	Costmap2D (const Costmap2D &map)
	Copy constructor for a costmap, creates a copy efficiently. More...
	Costmap2D (const nav_msgs::msg::OccupancyGrid &map)
	Constructor for a costmap from an OccupancyGrid map. More...
Costmap2D &	operator= (const Costmap2D &map)
	Overloaded assignment operator. More...
bool	copyCostmapWindow (const Costmap2D &map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y)
	Turn this costmap into a copy of a window of a costmap passed in. More...
bool	copyWindow (const Costmap2D &source, unsigned int sx0, unsigned int sy0, unsigned int sxn, unsigned int syn, unsigned int dx0, unsigned int dy0)
	Copies the (x0,y0)..(xn,yn) window from source costmap into a current costmap. More...
	Costmap2D ()
	Default constructor.
virtual	~Costmap2D ()
	Destructor.
unsigned char	getCost (unsigned int mx, unsigned int my) const
	Get the cost of a cell in the costmap. More...
unsigned char	getCost (unsigned int index) const
	Get the cost of a cell in the costmap. More...
void	setCost (unsigned int mx, unsigned int my, unsigned char cost)
	Set the cost of a cell in the costmap. More...
void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const
	Convert from map coordinates to world coordinates. More...
bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const
	Convert from world coordinates to map coordinates. More...
void	worldToMapNoBounds (double wx, double wy, int &mx, int &my) const
	Convert from world coordinates to map coordinates without checking for legal bounds. More...
void	worldToMapEnforceBounds (double wx, double wy, int &mx, int &my) const
	Convert from world coordinates to map coordinates, constraining results to legal bounds. More...
unsigned int	getIndex (unsigned int mx, unsigned int my) const
	Given two map coordinates... compute the associated index. More...
void	indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const
	Given an index... compute the associated map coordinates. More...
unsigned char *	getCharMap () const
	Will return a pointer to the underlying unsigned char array used as the costmap. More...
unsigned int	getSizeInCellsX () const
	Accessor for the x size of the costmap in cells. More...
unsigned int	getSizeInCellsY () const
	Accessor for the y size of the costmap in cells. More...
double	getSizeInMetersX () const
	Accessor for the x size of the costmap in meters. More...
double	getSizeInMetersY () const
	Accessor for the y size of the costmap in meters. More...
double	getOriginX () const
	Accessor for the x origin of the costmap. More...
double	getOriginY () const
	Accessor for the y origin of the costmap. More...
double	getResolution () const
	Accessor for the resolution of the costmap. More...
void	setDefaultValue (unsigned char c)
	Set the default background value of the costmap. More...
unsigned char	getDefaultValue ()
	Get the default background value of the costmap. More...
bool	setConvexPolygonCost (const std::vector< geometry_msgs::msg::Point > &polygon, unsigned char cost_value)
	Sets the cost of a convex polygon to a desired value. More...
void	polygonOutlineCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that make up the outline of a polygon. More...
void	convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that fill a convex polygon. More...
bool	saveMap (std::string file_name)
	Save the costmap out to a pgm file. More...
void	resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y)
	Resize the costmap.
void	resetMap (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn)
	Reset the costmap in bounds.
void	resetMapToValue (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn, unsigned char value)
	Reset the costmap in bounds to a value.
unsigned int	cellDistance (double world_dist)
	Given distance in the world... convert it to cells. More...
mutex_t *	getMutex ()

Protected Member Functions
virtual void	resetMaps ()
	Reset internal maps.
virtual void	raytraceFreespace (const nav2_costmap_2d::Observation &clearing_observation, double *min_x, double *min_y, double *max_x, double *max_y)
	Use raycasting between 2 points to clear freespace.
bool	worldToMap3DFloat (double wx, double wy, double wz, double &mx, double &my, double &mz)
	Covert world coordinates into map coordinates.
bool	worldToMap3D (double wx, double wy, double wz, unsigned int &mx, unsigned int &my, unsigned int &mz)
	Covert world coordinates into map coordinates.
void	mapToWorld3D (unsigned int mx, unsigned int my, unsigned int mz, double &wx, double &wy, double &wz)
	Covert map coordinates into world coordinates.
double	dist (double x0, double y0, double z0, double x1, double y1, double z1)
	Find L2 norm distance in 3D.
double	getSizeInMetersZ () const
	Get the height of the voxel sizes in meters.
rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...
Protected Member Functions inherited from nav2_costmap_2d::ObstacleLayer
bool	getMarkingObservations (std::vector< nav2_costmap_2d::Observation > &marking_observations) const
	Get the observations used to mark space. More...
bool	getClearingObservations (std::vector< nav2_costmap_2d::Observation > &clearing_observations) const
	Get the observations used to clear space. More...
void	updateRaytraceBounds (double ox, double oy, double wx, double wy, double max_range, double min_range, double *min_x, double *min_y, double *max_x, double *max_y)
	Process update costmap with raytracing the window bounds.
void	updateFootprint (double robot_x, double robot_y, double robot_yaw, double *min_x, double *min_y, double *max_x, double *max_y)
	Clear costmap layer info below the robot's footprint.
Protected Member Functions inherited from nav2_costmap_2d::CostmapLayer
void	updateWithTrueOverwrite (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
void	updateWithOverwrite (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
void	updateWithMax (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
void	updateWithAddition (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
void	touch (double x, double y, double *min_x, double *min_y, double *max_x, double *max_y)
void	useExtraBounds (double *min_x, double *min_y, double *max_x, double *max_y)
Protected Member Functions inherited from nav2_costmap_2d::Costmap2D
template<typename data_type >
void	copyMapRegion (data_type *source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, unsigned int sm_size_x, data_type *dest_map, unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, unsigned int region_size_y)
	Copy a region of a source map into a destination map. More...
virtual void	deleteMaps ()
	Deletes the costmap, static_map, and markers data structures.
virtual void	initMaps (unsigned int size_x, unsigned int size_y)
	Initializes the costmap, static_map, and markers data structures. More...
template<class ActionType >
void	raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length=UINT_MAX, unsigned int min_length=0)
	Raytrace a line and apply some action at each step. More...

Protected Attributes
bool	publish_voxel_
rclcpp_lifecycle::LifecyclePublisher< nav2_msgs::msg::VoxelGrid >::SharedPtr	voxel_pub_
nav2_voxel_grid::VoxelGrid	voxel_grid_
double	z_resolution_
double	origin_z_
int	unknown_threshold_
int	mark_threshold_
int	size_z_
rclcpp_lifecycle::LifecyclePublisher< sensor_msgs::msg::PointCloud2 >::SharedPtr	clearing_endpoints_pub_
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_
Protected Attributes inherited from nav2_costmap_2d::ObstacleLayer
std::vector< geometry_msgs::msg::Point >	transformed_footprint_
bool	footprint_clearing_enabled_
std::string	global_frame_
	The global frame for the costmap.
double	min_obstacle_height_
	Max Obstacle Height.
double	max_obstacle_height_
	Max Obstacle Height.
laser_geometry::LaserProjection	projector_
	Used to project laser scans into point clouds.
std::vector< std::shared_ptr< message_filters::SubscriberBase< rclcpp_lifecycle::LifecycleNode > > >	observation_subscribers_
	Used for the observation message filters.
std::vector< std::shared_ptr< tf2_ros::MessageFilterBase > >	observation_notifiers_
	Used to make sure that transforms are available for each sensor.
std::vector< std::shared_ptr< nav2_costmap_2d::ObservationBuffer > >	observation_buffers_
	Used to store observations from various sensors.
std::vector< std::shared_ptr< nav2_costmap_2d::ObservationBuffer > >	marking_buffers_
	Used to store observation buffers used for marking obstacles.
std::vector< std::shared_ptr< nav2_costmap_2d::ObservationBuffer > >	clearing_buffers_
	Used to store observation buffers used for clearing obstacles.
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_
	Dynamic parameters handler.
std::vector< nav2_costmap_2d::Observation >	static_clearing_observations_
std::vector< nav2_costmap_2d::Observation >	static_marking_observations_
bool	rolling_window_
bool	was_reset_
int	combination_method_
Protected Attributes inherited from nav2_costmap_2d::CostmapLayer
bool	has_extra_bounds_
Protected Attributes inherited from nav2_costmap_2d::Layer
LayeredCostmap *	layered_costmap_
std::string	name_
tf2_ros::Buffer *	tf_
rclcpp::CallbackGroup::SharedPtr	callback_group_
rclcpp_lifecycle::LifecycleNode::WeakPtr	node_
rclcpp::Clock::SharedPtr	clock_
rclcpp::Logger	logger_ {rclcpp::get_logger("nav2_costmap_2d")}
bool	current_
bool	enabled_
std::unordered_set< std::string >	local_params_
Protected Attributes inherited from nav2_costmap_2d::Costmap2D
unsigned int	size_x_
unsigned int	size_y_
double	resolution_
double	origin_x_
double	origin_y_
unsigned char *	costmap_
unsigned char	default_value_

Additional Inherited Members
Public Types inherited from nav2_costmap_2d::Costmap2D
typedef std::recursive_mutex	mutex_t

Detailed Description

Takes laser and pointcloud data to populate a 3D voxel representation of the environment.

Definition at line 64 of file voxel_layer.hpp.

Member Function Documentation

dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_costmap_2d::VoxelLayer::dynamicParametersCallback ( std::vector< rclcpp::Parameter >  parameters )

protected

Callback executed when a parameter change is detected.

Parameters

event

ParameterEvent message

Definition at line 482 of file voxel_layer.cpp.

References matchSize(), and nav2_costmap_2d::ObstacleLayer::max_obstacle_height_.

Referenced by onInitialize().

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updateBounds()

void nav2_costmap_2d::VoxelLayer::updateBounds ( double  robot_x, double  robot_y, double  robot_yaw, double *  min_x, double *  min_y, double *  max_x, double *  max_y  )

virtual

Update the bounds of the master costmap by this layer's update dimensions.

Parameters

robot_x	X pose of robot
robot_y	Y pose of robot
robot_yaw	Robot orientation
min_x	X min map coord of the window to update
min_y	Y min map coord of the window to update
max_x	X max map coord of the window to update
max_y	Y max map coord of the window to update

Reimplemented from nav2_costmap_2d::ObstacleLayer.

Definition at line 144 of file voxel_layer.cpp.

References nav2_costmap_2d::ObstacleLayer::getClearingObservations(), nav2_costmap_2d::Costmap2D::getIndex(), nav2_costmap_2d::ObstacleLayer::getMarkingObservations(), nav2_costmap_2d::Costmap2D::getSizeInMetersX(), nav2_costmap_2d::Costmap2D::getSizeInMetersY(), nav2_costmap_2d::ObstacleLayer::global_frame_, nav2_costmap_2d::ObstacleLayer::max_obstacle_height_, raytraceFreespace(), nav2_costmap_2d::CostmapLayer::touch(), nav2_costmap_2d::ObstacleLayer::updateFootprint(), updateOrigin(), and worldToMap3D().

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The documentation for this class was generated from the following files:

• nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.hpp
• nav2_costmap_2d/plugins/voxel_layer.cpp