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Added g1 parameters
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‎elevation_mapping_cupy/config/setups/g1/g1_parameters.yaml‎

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#### Basic parameters ########
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resolution: 0.04 # resolution in m.
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map_length: 8 # map's size in m.
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sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor).
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mahalanobis_thresh: 2.0 # points outside this distance is outlier.
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outlier_variance: 0.01 # if point is outlier, add this value to the cell.
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drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation.
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max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety)
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drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation
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time_variance: 0.0001 # add this value when update_variance is called.
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max_variance: 100.0 # maximum variance for each cell.
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initial_variance: 1000.0 # initial variance for each cell.
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traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation.
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dilation_size: 3 # dilation filter size before traversability filter.
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wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp.
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min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number.
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position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens.
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orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens.
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position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements.
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orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements.
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min_valid_distance: 0.5 # points with shorter distance will be filtered out.
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max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling.
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ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject.
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ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject.
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ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject.
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update_variance_fps: 5.0 # fps for updating variance.
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update_pose_fps: 10.0 # fps for updating pose and shift the center of map.
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time_interval: 0.1 # Time layer is updated with this interval.
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map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps.
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publish_statistics_fps: 1.0 # Publish statistics topic in this fps.
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max_ray_length: 10.0 # maximum length for ray tracing.
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cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup.
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cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup.
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safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell.
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safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this.
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max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe.
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overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting)
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overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting)
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map_frame: 'map' # The map frame where the odometry source uses.
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base_frame: 'body' # The robot's base frame. This frame will be a center of the map.
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corrected_map_frame: 'odom_corrected'
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#### Feature toggles ########
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enable_edge_sharpen: true
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enable_visibility_cleanup: true
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enable_drift_compensation: true
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enable_overlap_clearance: true
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enable_pointcloud_publishing: false
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enable_drift_corrected_TF_publishing: false
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enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize.
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#### Traversability filter ########
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use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster.
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weight_file: '$(rospack find elevation_mapping_cupy)/config/core/weights.dat' # Weight file for traversability filter
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#### Upper bound ########
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use_only_above_for_upper_bound: false
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#### Plugins ########
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# plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/anymal_plugin_config.yaml'
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#### Publishers ########
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# topic_name:
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# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names
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# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`.
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# fps: # Publish rate. Use smaller value than `map_acquire_fps`.
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# publishers:
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# elevation_map_raw:
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# layers: ['elevation', 'traversability', 'variance']
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# basic_layers: ['elevation', 'traversability']
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# fps: 5.0
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# semantic_map_raw:
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# layers: ['elevation', 'traversability']
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# basic_layers: ['elevation', 'traversability']
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# fps: 5.0
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#### Initializer ########
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initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic'
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initialize_frame_id: ['RF_FOOT', 'LF_FOOT', 'RH_FOOT', 'LH_FOOT'] # One tf (like ['footprint'] ) initializes a square around it.
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initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id.
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dilation_size_initialize: 5 # dilation size after the init.
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initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3.
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use_initializer_at_start: true # Use initializer when the node starts.

‎elevation_mapping_cupy/config/setups/g1/g1_plugin_config.yaml‎

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# Settings of the plugins. (The plugins should be stored in script/plugins)
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# min_filter fills in minimum value around the invalid cell.
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min_filter:
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enable: True # weather to load this plugin
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fill_nan: False # Fill nans to invalid cells of elevation layer.
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is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability)
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layer_name: "min_filter" # The layer name.
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extra_params: # This params are passed to the plugin class on initialization.
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dilation_size: 1 # The patch size to apply
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iteration_n: 30 # The number of iterations
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max_filter:
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enable: True # weather to load this plugin
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fill_nan: False # Fill nans to invalid cells of elevation layer.
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is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability)
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layer_name: "max_filter" # The layer name.
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extra_params: # This params are passed to the plugin class on initialization.
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dilation_size: 5 # The patch size to apply
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iteration_n: 10 # The number of iterations
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# Apply smoothing.
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smooth_filter:
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enable: True
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fill_nan: False
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is_height_layer: True
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layer_name: "smooth"
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extra_params:
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input_layer_name: "min_filter"
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# Apply inpainting using opencv
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inpainting:
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enable: True
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fill_nan: False
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is_height_layer: True
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layer_name: "inpaint"
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extra_params:
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method: "telea" # telea or ns

‎elevation_mapping_cupy/config/setups/g1/g1_sensor_parameter.yaml‎

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plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/g1/g1_plugin_config.yaml'
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pointcloud_channel_fusions:
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rgb: 'color'
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default: 'average'
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image_channel_fusions:
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rgb: 'color'
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default: 'exponential'
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feat_.*: 'exponential'
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sem_.*: 'exponential'
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#### Publishers ########
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# topic_name:
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# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names
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# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`.
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# fps: # Publish rate. Use smaller value than `map_acquire_fps`.
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publishers:
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elevation_map_raw:
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layers: ['elevation', 'traversability', 'variance', 'rgb', 'upper_bound']
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basic_layers: ['elevation', 'traversability']
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fps: 5.0
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elevation_map_recordable:
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layers: ['elevation', 'traversability', 'variance', 'rgb']
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basic_layers: ['elevation', 'traversability']
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fps: 2.0
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filtered_elevation_map:
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layers: ['inpaint', 'smooth', 'min_filter', 'max_filter', 'upper_bound']
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basic_layers: ['inpaint']
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fps: 5.0
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#### Subscribers ########
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subscribers:
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Livox:
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topic_name: /cloud_registered_body_1
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data_type: pointcloud

‎elevation_mapping_cupy/launch/g1.launch‎

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<launch>
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<!-- Elevation mapping node -->
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<node pkg="elevation_mapping_cupy" type="elevation_mapping_node" name="elevation_mapping" output="screen">
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<rosparam command="load" file="$(find elevation_mapping_cupy)/config/setups/g1/g1_parameters.yaml"/>
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<rosparam command="load" file="$(find elevation_mapping_cupy)/config/setups/g1/g1_sensor_parameter.yaml"/>
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</node>
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</launch>

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