Denoise Layer Parameters¶
This layer attempts to remove simple noise that may exist in a costmap’s layers due to sensor noise or discrete raycasting errors.
<denoise layer> is the corresponding plugin name selected for this type.
Whether it is enabled.
The minimum number of adjacent obstacles that should not be discarded as noise.If 1 or less, all obstacles will be kept.If 2, standalone obstacles (without neighbors in adjacent cells) will be removed.If N, obstacles groups smaller than N will be removed.
Obstacles connectivity type (is the way in which obstacles relate to their neighbors). Must be 4 or 8.4 - adjacent obstacles are connected horizontally and vertically.8 - adjacent obstacles are connected horizontally, vertically and diagonally.
local_costmap: local_costmap: ros__parameters: ... plugins: ["voxel_layer", "denoise_layer", "inflation_layer"] ... denoise_layer: plugin: "nav2_costmap_2d::DenoiseLayer" enabled: true minimal_group_size: 2 group_connectivity_type: 8