nonpersistent_voxel_layer repository

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
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
nonpersistent_voxel_layer 2.1.1

README

nonpersistent_voxel_layer Build Status

Buy Me A Coffee

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

CONTRIBUTING

No CONTRIBUTING.md found.

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
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
nonpersistent_voxel_layer 2.0.2

README

nonpersistent_voxel_layer Build Status

Buy Me A Coffee

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

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type git
VCS Version melodic-devel
Last Updated 2019-06-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
nonpersistent_voxel_layer 1.2.3

README

nonpersistent_voxel_layer Build Status

Buy Me A Coffee

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

CONTRIBUTING

No CONTRIBUTING.md found.

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
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
nonpersistent_voxel_layer 1.1.3

README

nonpersistent_voxel_layer Build Status

Buy Me A Coffee

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

CONTRIBUTING

No CONTRIBUTING.md found.