Obstacle Layer Parameters¶

This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, depth, or other sensors. It contains a 2D costmap model within it that manages the planning space by the parameters specified below.

<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. Must be 0, 1 or 2, default to 1 (see below).

0 - Overwrite: Overwrite master costmap with every valid observation.

1 - Max: Sets the new value to the maximum of the master_grid’s value and this layer’s value.

This is the default.

2 - MaxWithoutUnknownOverwrite: Sets the new value to the maximum of the master_grid’s
value and this layer’s value. If the master value is NO_INFORMATION, it is NOT overwritten.
It can be used to make sure that the static map is the dominant source of information, and
prevent the robot to go through places that are not present in the static map.

<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.