nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
humble

Package Summary

Version	2.3.1
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	humble
Last Updated	2025-02-04
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            plugin: nav2_costmap_2d/NonPersistentVoxelLayer
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version	2.5.0
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	jazzy
Last Updated	2025-02-04
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            plugin: nav2_costmap_2d/NonPersistentVoxelLayer
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
kilted

API Docs
Browse Code

Package Summary

Version	2.6.0
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	kilted
Last Updated	2025-06-09
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            plugin: nav2_costmap_2d/NonPersistentVoxelLayer
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version	2.3.1
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	humble
Last Updated	2025-02-04
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            plugin: nav2_costmap_2d/NonPersistentVoxelLayer
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version	2.3.1
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	humble
Last Updated	2025-02-04
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            plugin: nav2_costmap_2d/NonPersistentVoxelLayer
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version	2.3.1
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	humble
Last Updated	2025-02-04
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            plugin: nav2_costmap_2d/NonPersistentVoxelLayer
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version	2.3.1
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	humble
Last Updated	2025-02-04
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            plugin: nav2_costmap_2d/NonPersistentVoxelLayer
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
eloquent

API Docs
Browse Code

Package Summary

Version	2.1.1
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	eloquent-devel
Last Updated	2020-02-24
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]
          plugin_types: ["nav2_costmap_2d::StaticLayer", "nav2_costmap_2d::NonPersistentVoxelLayer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pcl_conversions
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

Name
libpcl-all

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
dashing

API Docs
Browse Code

Package Summary

Version	2.0.2
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	dashing-devel
Last Updated	2020-01-31
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-dashing-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]
          plugin_types: ["nav2_costmap_2d::StaticLayer", "nav2_costmap_2d::NonPersistentVoxelLayer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pcl_conversions
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

Name
libpcl-all

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
galactic

API Docs
Browse Code

Package Summary

Version	2.2.2
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	galactic
Last Updated	2021-11-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]
          plugin_types: ["nav2_costmap_2d::StaticLayer", "nav2_costmap_2d::NonPersistentVoxelLayer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
foxy

API Docs
Browse Code

Package Summary

Version	2.2.1
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	foxy-devel
Last Updated	2021-01-19
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]
          plugin_types: ["nav2_costmap_2d::StaticLayer", "nav2_costmap_2d::NonPersistentVoxelLayer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
iron

API Docs
Browse Code

Package Summary

Version	2.6.0
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-11
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            plugin: nav2_costmap_2d/NonPersistentVoxelLayer
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	laser_geometry
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version	2.3.1
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	humble
Last Updated	2025-02-04
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            plugin: nav2_costmap_2d/NonPersistentVoxelLayer
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version	2.3.1
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	humble
Last Updated	2025-02-04
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            plugin: nav2_costmap_2d/NonPersistentVoxelLayer
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version	2.3.1
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	humble
Last Updated	2025-02-04
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            plugin: nav2_costmap_2d/NonPersistentVoxelLayer
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version	2.3.1
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	humble
Last Updated	2025-02-04
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

    global_costmap:
      global_costmap:
        ros__parameters:
          nonpersisting_obstacle_layer:
            plugin: nav2_costmap_2d/NonPersistentVoxelLayer
            enabled:              true
            track_unknown_space:  true
            max_obstacle_height:  1.8
            unknown_threshold:    15
            mark_threshold:       2
            combination_method:   1
            obstacle_range: 3.0
            origin_z: 0.
            z_resolution: 0.05
            z_voxels: 16
            publish_voxel_map: true
            observation_sources: rgbd
            rgbd:
              data_type: PointCloud2
              topic: camera/depth/points
              marking: true
              min_obstacle_height: 0.7
              max_obstacle_height: 1.7

in list of plugins for local/global

    global_costmap:
      global_costmap:
        ros__parameters:
          use_sim_time: True
          plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code Wiki

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Version	1.1.3
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2019-04-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-kinetic-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

Build and tested on ROS1 Kinetic, verified working in Indigo and Melodic

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

nonpersisting_obstacle_layer:
  enabled:              true
  track_unknown_space:  true
  max_obstacle_height:  1.8
  unknown_threshold:    15
  mark_threshold:       2
  combination_method:   1
  obstacle_range: 3.0
  origin_z: 0.
  z_resolution: 0.05
  z_voxels: 16
  publish_voxel_map: true
  observation_sources: rgbd
  rgbd:
    data_type: PointCloud2
    topic: camera/depth/points
    marking: true
    min_obstacle_height: 0.7
    max_obstacle_height: 1.7

in list of plugins for local/global

plugins:
 - {name: nonpersisting_obstacle_layer, type: "costmap_2d::NonPersistentVoxelLayer"}

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	cmake_modules
	dynamic_reconfigure
	geometry_msgs
	laser_geometry
	map_msgs
	message_filters
	message_generation
	nav_msgs
	pcl_conversions
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf
	visualization_msgs
	voxel_grid
	costmap_2d
	catkin
	message_runtime
	rosconsole

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code Wiki

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
melodic

API Docs
Browse Code
Wiki

Package Summary

Version	1.3.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	melodic-devel
Last Updated	2021-01-28
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-kinetic-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

Build and tested on ROS1 Kinetic, verified working in Indigo and Melodic

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

nonpersisting_obstacle_layer:
  enabled:              true
  track_unknown_space:  true
  max_obstacle_height:  1.8
  unknown_threshold:    15
  mark_threshold:       2
  combination_method:   1
  obstacle_range: 3.0
  origin_z: 0.
  z_resolution: 0.05
  z_voxels: 16
  publish_voxel_map: true
  observation_sources: rgbd
  rgbd:
    data_type: PointCloud2
    topic: camera/depth/points
    marking: true
    min_obstacle_height: 0.7
    max_obstacle_height: 1.7

in list of plugins for local/global

plugins:
 - {name: nonpersisting_obstacle_layer, type: "costmap_2d::NonPersistentVoxelLayer"}

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	cmake_modules
	dynamic_reconfigure
	geometry_msgs
	laser_geometry
	map_msgs
	message_filters
	message_generation
	nav_msgs
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf
	visualization_msgs
	voxel_grid
	costmap_2d
	catkin
	message_runtime
	rosconsole

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code Wiki

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

ROS Distro
noetic

API Docs
Browse Code
Wiki

Package Summary

Version	1.3.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	melodic-devel
Last Updated	2021-01-28
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

nonpersistent_voxel_layer

ROS drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.

Bloom released, install via

sudo apt-get update && sudo apt-get install ros-kinetic-nonpersistent-voxel-layer

Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren’t dense enough to clear effectively.

Build and tested on ROS1 Kinetic, verified working in Indigo and Melodic

http://wiki.ros.org/nonpersistent_voxel_grid

Example Use

in costmap commons

nonpersisting_obstacle_layer:
  enabled:              true
  track_unknown_space:  true
  max_obstacle_height:  1.8
  unknown_threshold:    15
  mark_threshold:       2
  combination_method:   1
  obstacle_range: 3.0
  origin_z: 0.
  z_resolution: 0.05
  z_voxels: 16
  publish_voxel_map: true
  observation_sources: rgbd
  rgbd:
    data_type: PointCloud2
    topic: camera/depth/points
    marking: true
    min_obstacle_height: 0.7
    max_obstacle_height: 1.7

in list of plugins for local/global

plugins:
 - {name: nonpersisting_obstacle_layer, type: "costmap_2d::NonPersistentVoxelLayer"}

parameters

Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	cmake_modules
	dynamic_reconfigure
	geometry_msgs
	laser_geometry
	map_msgs
	message_filters
	message_generation
	nav_msgs
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf
	visualization_msgs
	voxel_grid
	costmap_2d
	catkin
	message_runtime
	rosconsole

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code Wiki

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

ROS Distrohumble

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

nonpersistent_voxel_layer

Example Use

in costmap commons

in list of plugins for local/global

parameters

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged nonpersistent_voxel_layer at Robotics Stack Exchange

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

ROS Distrojazzy

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

nonpersistent_voxel_layer

Example Use

in costmap commons

in list of plugins for local/global

parameters

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged nonpersistent_voxel_layer at Robotics Stack Exchange

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

ROS Distrokilted

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

nonpersistent_voxel_layer

Example Use

in costmap commons

in list of plugins for local/global

parameters

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged nonpersistent_voxel_layer at Robotics Stack Exchange

nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

ROS Distrohumble

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

nonpersistent_voxel_layer

Example Use

in costmap commons

in list of plugins for local/global

parameters

Package Dependencies

System Dependencies

Dependant Packages

Launch files

ROS Distro
humble

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

ROS Distro
jazzy

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

ROS Distro
kilted

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

ROS Distro
humble

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

ROS Distro
humble

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

ROS Distro
humble

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

ROS Distro
humble

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

ROS Distro
eloquent