Method LoadParameter

roborts_costmap/src/costmap_interface.cpp:132–169

}

void CostmapInterface::LoadParameter() {

  ParaCollection ParaCollectionConfig;
  roborts_common::ReadProtoFromTextFile(config_file_.c_str(), \
                                &ParaCollectionConfig);


  config_file_ = ros::package::getPath("roborts_costmap") + \
      ParaCollectionConfig.para_costmap_interface().inflation_file_path();

  map_update_frequency_ = ParaCollectionConfig.para_costmap_interface().map_update_frequency();
  global_frame_ = ParaCollectionConfig.para_costmap_interface().global_frame();
  robot_base_frame_ = ParaCollectionConfig.para_costmap_interface().robot_base_frame();
  footprint_padding_ = ParaCollectionConfig.para_costmap_interface().footprint_padding();
  transform_tolerance_ = ParaCollectionConfig.para_costmap_interface().transform_tolerance();
  is_rolling_window_ = ParaCollectionConfig.para_costmap_interface().is_rolling_window();
  is_debug_ = ParaCollectionConfig.para_basic().is_debug();
  is_track_unknown_ = ParaCollectionConfig.para_costmap_interface().is_tracking_unknown();
  has_obstacle_layer_ = ParaCollectionConfig.para_costmap_interface().has_obstacle_layer();
  has_static_layer_ = ParaCollectionConfig.para_costmap_interface().has_static_layer();
  map_width_ = ParaCollectionConfig.para_costmap_interface().map_width();
  map_height_ = ParaCollectionConfig.para_costmap_interface().map_height();
  map_origin_x_ = ParaCollectionConfig.para_costmap_interface().map_origin_x();
  map_origin_y_ = ParaCollectionConfig.para_costmap_interface().map_origin_y();
  map_resolution_ = ParaCollectionConfig.para_costmap_interface().map_resolution();


  config_file_inflation_ = ros::package::getPath("roborts_costmap") + \
      ParaCollectionConfig.para_costmap_interface().inflation_file_path();

  geometry_msgs::Point point;
  for (auto i = 0; i < ParaCollectionConfig.footprint().point().size(); i++) {
    point.x = ParaCollectionConfig.footprint().point(i).x();
    point.y = ParaCollectionConfig.footprint().point(i).y();
    point.z = 0.0;
    footprint_points_.push_back(point);
  }
}

void CostmapInterface::SetUnpaddedRobotFootprintPolygon(const geometry_msgs::Polygon &footprint) {
  SetUnpaddedRobotFootprint(ToPointVector(footprint));