Implement 3D Elevation Graph Support and Add ROS2 Costmap Publisher #3
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rhua-nv
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Dec 1, 2025
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rhua-nv
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Could you please run the unit tests and the linter? Please see https://github.com/nvidia-isaac/SWAGGER/tree/main?tab=readme-ov-file#development
| ) | ||
| self._known_points: list[tuple[float, float]] = [] | ||
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| def _debug_print(self, *args, **kwargs): |
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Please use self._logger.debug (configured here). To enable debug print, initialize the waypoint graph generator instance with logger_level=logging.DEBUG.
| image_height = image.shape[0] | ||
| self._y_offset = y_offset + (image_height * resolution) # Add image height in meters | ||
| #self._y_offset = y_offset + (image_height * resolution) # Add image height in meters | ||
| self._y_offset = y_offset |
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Could you explain the change?
| self._logger.info("Generating skeleton...") | ||
| try: | ||
| skeleton_image = thin((1 - self._inflated_map).view(cp.uint8)) | ||
| skeleton_image = thin((1 - inflated_map).view(cp.uint8)) |
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inflated_map is not defined in this function.
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Added new elevation integration + graph visualization improvements.