Expose model_unknown_space parameter to ROS2 #448
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Signed-off-by: Diego Palma <[email protected]>
hidmic
reviewed
Oct 23, 2024
beluga_amcl/src/amcl_node.cpp
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| @@ -120,6 +120,12 @@ AmclNode::AmclNode(const rclcpp::NodeOptions& options) : BaseAMCLNode{"amcl", "" | |||
| declare_parameter("z_rand", rclcpp::ParameterValue(0.5), descriptor); | |||
| } | |||
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| { | |||
| auto descriptor = rcl_interfaces::msg::ParameterDescriptor(); | |||
| descriptor.description = "If false, Likelihood Field sensor model won't model unknown space."; | |||
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@DPR00 consider having matching descriptions in ROS 1 and ROS 2. I like the ROS 1 one better.
| @@ -61,6 +61,8 @@ amcl: | |||
| z_hit: 0.5 | |||
| # Weight used to combine the probability of random noise in perception. | |||
| z_rand: 0.5 | |||
| # Whether to model unknown space or assume it free. | |||
| model_unknown_space : false | |||
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@DPR00 nit:
Suggested change
| model_unknown_space : false | |
| model_unknown_space: false |
Signed-off-by: Diego Palma <[email protected]>
DPR00
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Signed-off-by: Diego Palma <[email protected]>
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Proposed changes
Expose
model_unknown_spaceparameter of the Likelihood Field sensor model to Beluga AMCL (ROS 2).Type of change
💥 Breaking change! Explain why a non-backwards compatible change is necessary or remove this line entirely if not applicable.
Checklist
Put an
xin the boxes that apply. This is simply a reminder of what we will require before merging your code.Additional comments
Anything worth mentioning to the reviewers.