FastDEM/ros2/config/global_mapping.yaml at main · ut-amrl/FastDEM · GitHub

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# FastDEM ROS Configuration
topics:
  input_scans: ["/points"]   # multi-sensor: ["/lidar/points", "/realsense/points"]
  publish_rate: 5.0          # [Hz] local view around robot
  global_publish_rate: 1.0   # [Hz] full global map
  post_process_rate: 1.0     # [Hz] 0 = service-only (no auto timer)

tf:
  base_frame: "base_link"
  map_frame: "map"
  max_wait_time: 0.1   # [sec]
  max_stale_time: 0.1  # [sec]

map:
  width: 200.0       # [m]
  height: 200.0      # [m]
  resolution: 0.1   # [m/cell]

point_filter:
  z_min: -0.5       # [m] min height in base frame
  z_max: 2.0        # [m] max height in base frame
  range_min: 0.5    # [m] min range from sensor
  range_max: 20.0   # [m] max range from sensor

logger:
  level: "info"  # info, warn, error, debug

# ─── Mapping Pipeline ───────────────────────────────
mapping:
  mode: "global"               # local | global
  type: "kalman_filter"        # kalman_filter | p2_quantile
  kalman:
    min_variance: 0.0001     # [m²]
    max_variance: 0.01       # [m²]
    process_noise: 0.0       # [m²]
  p2:
    dn0: 0.0
    dn1: 0.16
    dn2: 0.50
    dn3: 0.84
    dn4: 1.0
    elevation_marker: 3
    max_sample_count: 0

sensor_model:
  type: "lidar"              # constant | lidar | rgbd
  lidar:
    range_noise: 0.02        # [m] σ_r
    angular_noise: 0.001     # [rad] σ_θ
  rgbd:
    normal_a: 0.001          # [m] base depth noise
    normal_b: 0.002          # [m⁻¹] quadratic coefficient
    normal_c: 0.4            # [m] optimal depth
    lateral_factor: 0.001    # lateral noise factor
  constant:
    uncertainty: 0.03        # [m] σ

# ─── Post-processing ───────────────────────────────
raycasting:
  enabled: true
  height_conflict_threshold: 0.05  # [m]
  log_odds_observed: 0.4
  log_odds_ghost: 0.2
  log_odds_max: 2.0
  clear_threshold: -1.0

inpainting:
  enabled: false
  max_iterations: 3
  min_valid_neighbors: 2

uncertainty_fusion:
  enabled: false
  search_radius: 0.15       # [m]
  spatial_sigma: 0.05        # [m]
  quantile_lower: 0.01
  quantile_upper: 0.99
  min_valid_neighbors: 3

feature_extraction:
  enabled: false
  analysis_radius: 0.3       # [m]
  min_valid_neighbors: 4
  step_lower_percentile: 0.05
  step_upper_percentile: 0.95

# ─── Visualization ────────────────────────────────
visualization:
  feature_extraction:
    normals:
      arrow_length: 0.15    # [m] normal vector line length
      stride: 3             # cell stride (1=all, 2=every 2nd, ...)