Voxel Layer Parameters

<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, default to maximum.

<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_range:
 
Type Default
double 2.5
Description

Maximum range to mark obstacles in costmap.

<voxel layer>. <data source>.raytrace_range:
 
Type Default
double 3.0
Description

Maximum range to raytrace clear obstacles from costmap.