Obstacle Layer Parameters¶

<obstacle layer> is the corresponding plugin name selected for this type.

<data source> is the corresponding observation source name for that sources parameters.

<obstacle layer>.enabled:

Type	Default
bool	True

Description: Whether it is enabled.

<obstacle layer>.footprint_clearing_enabled:

Type	Default
bool	True

Description: Clear any occupied cells under robot footprint.

<obstacle layer>.max_obstacle_height:

Type	Default
double	2.0

Description: Maximum height to add return to occupancy grid.

<obstacle layer>.combination_method:

Type	Default
int	1

Description: Enum for method to add data to master costmap, default to maximum.

<obstacle layer>.observation_sources:

Type	Default
vector<string>	{“”}

Description: namespace of sources of data.

<obstacle layer>. <data source>.topic:

Type	Default
string	“”

Description: Topic of data.

<obstacle layer>. <data source>.sensor_frame:

Type	Default
string	“”

Description: Frame of sensor, to use if not provided by message. If empty, uses message frame_id.

<obstacle layer>. <data source>.observation_persistence:

Type	Default
double	0.0

Description: How long to store messages in a buffer to add to costmap before removing them (s).

<obstacle layer>. <data source>.expected_update_rate:

Type	Default
double	0.0

Description: Expected rate to get new data from sensor.

<obstacle layer>. <data source>.data_type:

Type	Default
string	“LaserScan”

Description: Data type of input, LaserScan or PointCloud2.

<obstacle layer>. <data source>.min_obstacle_height:

Type	Default
double	0.0

Description: Minimum height to add return to occupancy grid.

<obstacle layer>. <data source>.max_obstacle_height:

Type	Default
double	0.0

Description: Maximum height to add return to occupancy grid.

<obstacle layer>. <data source>.inf_is_valid:

Type	Default
bool	False

Description: Are infinite returns from laser scanners valid measurements to raycast.

<obstacle layer>. <data source>.marking:

Type	Default
bool	True

Description: Whether source should mark in costmap.

<obstacle layer>. <data source>.clearing:

Type	Default
bool	False

Description: Whether source should raytrace clear in costmap.

<obstacle layer>. <data source>.obstacle_max_range:

Type	Default
double	2.5

Description: Maximum range to mark obstacles in costmap.

<obstacle layer>. <data source>.obstacle_min_range:

Type	Default
double	0.0

Description: Minimum range to mark obstacles in costmap.

<obstacle layer>. <data source>.raytrace_max_range:

Type	Default
double	3.0

Description: Maximum range to raytrace clear obstacles from costmap.

<obstacle layer>. <data source>.raytrace_min_range:

Type	Default
double	0.0

Description: Minimum range to raytrace clear obstacles from costmap.