Voxel Layer Parameters

This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or other sensors. It contains a 3D environmental model within it that manages the planning space and squashes down to 2D for planning and control by the parameters specified below.

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

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

<voxel layer>.enabled

Type

Default

bool

True

Description

Whether it is enabled.

<voxel layer>.footprint_clearing_enabled

Type

Default

bool

True

Description

Clear any occupied cells under robot footprint.

<voxel layer>.max_obstacle_height

Type

Default

double

2.0

Description

Maximum height to add return to occupancy grid.

<voxel layer>.z_voxels

Type

Default

int

10

Description

Number of voxels high to mark, maximum 16.

<voxel layer>.origin_z

Type

Default

double

0.0

Description

Where to start marking voxels (m).

<voxel layer>.z_resolution

Type

Default

double

0.2

Description

Resolution of voxels in height (m).

<voxel layer>.unknown_threshold

Type

Default

int

15

Description

Minimum number of empty voxels in a column to mark as unknown in 2D occupancy grid.

<voxel layer>.mark_threshold

Type

Default

int

0

Description

Minimum number of voxels in a column to mark as occupied in 2D occupancy grid.

<voxel 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.
<voxel layer>.publish_voxel_map

Type

Default

bool

False

Description

Whether to publish 3D voxel grid for debug, computationally expensive.

<voxel layer>.observation_sources

Type

Default

vector<string>

{“”}

Description

namespace of sources of data.

<voxel layer>. <data source>.topic

Type

Default

string

“”

Description

Topic of data.

<voxel 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.

<voxel 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).

<voxel layer>. <data source>.expected_update_rate

Type

Default

double

0.0

Description

Expected rate to get new data from sensor.

<voxel layer>. <data source>.data_type

Type

Default

string

“LaserScan”

Description

Data type of input, LaserScan or PointCloud2.

<voxel layer>. <data source>.min_obstacle_height

Type

Default

double

0.0

Description

Minimum height to add return to occupancy grid.

<voxel layer>. <data source>.max_obstacle_height

Type

Default

double

0.0

Description

Maximum height to add return to occupancy grid.

<voxel layer>. <data source>.inf_is_valid

Type

Default

bool

False

Description

Are infinite returns from laser scanners valid measurements to raycast.

<voxel layer>. <data source>.marking

Type

Default

bool

True

Description

Whether source should mark in costmap.

<voxel layer>. <data source>.clearing

Type

Default

bool

False

Description

Whether source should raytrace clear in costmap.

<voxel layer>. <data source>.obstacle_max_range

Type

Default

double

2.5

Description

Maximum range to mark obstacles in costmap.

<voxel layer>. <data source>.obstacle_min_range

Type

Default

double

0.0

Description

Minimum range to mark obstacles in costmap.

<voxel layer>. <data source>.raytrace_max_range

Type

Default

double

3.0

Description

Maximum range to raytrace clear obstacles from costmap.

<voxel layer>. <data source>.raytrace_min_range

Type

Default

double

0.0

Description

Minimum range to raytrace clear obstacles from costmap.