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- #!/usr/bin/env python
- from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, bool_t, double_t, int_t
- gen = ParameterGenerator()
- gen.add("enabled", bool_t, 0, "Whether to apply this plugin or not", True)
- gen.add("footprint_clearing_enabled", bool_t, 0, "Whether to clear the robot's footprint of lethal obstacles", True)
- gen.add("max_obstacle_height", double_t, 0, "The maximum height of any obstacle to be inserted into the costmap in meters.", 2, 0, 50)
- combo_enum = gen.enum([gen.const("Overwrite", int_t, 0, "Overwrite values"),
- gen.const("Maximum", int_t, 1, "Take the maximum of the values"),
- gen.const("Nothing", int_t, 99, "Do nothing")],
- "Method for combining layers enum")
- gen.add("combination_method", int_t, 0, "Method for combining two layers", 1, edit_method=combo_enum)
- #gen.add("max_obstacle_range", double_t, 0, "The default maximum distance from the robot at which an obstacle will be inserted into the cost map in meters.", 2.5, 0, 50)
- #gen.add("raytrace_range", double_t, 0, "The default range in meters at which to raytrace out obstacles from the map using sensor data.", 3, 0, 50)
- exit(gen.generate("costmap_2d", "costmap_2d", "ObstaclePlugin"))
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