nonpersistent_voxel_layer repository

Repository Summary

Checkout URI https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type git
VCS Version master
Last Updated 2018-05-09
Dev Status MAINTAINED
Released RELEASED

Packages

Name Version
nonpersistent_voxel_layer 1.14.2

README

nonpersistent_voxel_layer Build Status

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

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

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