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leggedrobotics / traversability_estimation

Traversability mapping for mobile rough terrain navigation
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Feature/expose default traversability param #47

Closed marco-tranzatto closed 5 years ago

marco-tranzatto commented 5 years ago

This PR allows to set/get/restore the param traversability_default.

By changing this parameter, it is possible to change the behavior of a higher level planner about unknown regions in a traversability map. The more traversability_default is closer to 0, the less unknown regions are considered when planning. Vice-versa for traversability_default closer to 1.

Given parameter for traversability_default is checked against constant bounds to make sure it's between 0 and 1.

marco-tranzatto commented 5 years ago

Auto approving my last commit to merge the PR feels like this:

approve_your_own_prs