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Amrnav 6557 fix flickering visualization #72

Merged
merged 5 commits into from
Jul 24, 2024
Merged

Amrnav 6557 fix flickering visualization #72

merged 5 commits into from
Jul 24, 2024

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VladyslavHrynchak200204
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@VladyslavHrynchak200204 VladyslavHrynchak200204 commented Jul 23, 2024 •
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Basic Info

Info Please fill out this column
Ticket(s) this addresses https://lvserv01.logivations.com/browse/AMRNAV-6557
Primary OS tested on (Ubuntu)
Robotic platform tested on gazebo simulation

Description of contribution in a few bullet points

  • Added parameter float map_vis_z_ to Costmap2DROS and Costmap2DPublisher, so we can use it to set info.origin.position.z costmap using parameter in .yaml file. map_vis_z_ = 0.0 by default

image

*Minimum value without flickering is -0.008 for global_costmap

Results

- Before

before.mp4

- After

after.mp4

jplapp
jplapp approved these changes Jul 24, 2024
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lgtm

@VladyslavHrynchak200204 VladyslavHrynchak200204 merged commit 4605fc6 into support_dynamic_name_bt_navigator Jul 24, 2024
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@jplapp jplapp jplapp approved these changes

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@VladyslavHrynchak200204 @jplapp