type: |
- Description
Type of costmap filter used. This is an enum for the type of filter this should be interpreted as. We provide the following pre-defined types:
- 0: keepout zones / preferred lanes filter
- 1: speed filter, speed limit is specified in % of maximum speed
- 2: speed filter, speed limit is specified in absolute value (m/s)
|
filter_info_topic: |
|
Type |
Default |
string |
“costmap_filter_info” |
- Description
Topic to publish costmap filter information to.
|
mask_topic: |
Type |
Default |
string |
“filter_mask” |
- Description
Topic to publish filter mask to. The value of this parameter should be in accordance with topic_name parameter of Map Server tuned to filter mask publishing.
|
base: |
- Description
Base of OccupancyGrid mask value -> filter space value linear conversion which is being proceeded as:
filter_space_value = base + multiplier * mask_value
|
multiplier: |
- Description
Multiplier of OccupancyGrid mask value -> filter space value linear conversion which is being proceeded as:
filter_space_value = base + multiplier * mask_value
|