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.

<denoise layer>.enabled

Type	Default
bool	True

Description

Whether it is enabled.

<denoise layer>.minimal_group_size

Type	Default
int	2

Description

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.

<denoise layer>.group_connectivity_type

Type	Default
int	8

Description

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.

Example

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