<voxel layer> .enabled: |
|
- Description
Whether it is enabled.
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<voxel layer> .footprint_clearing_enabled: |
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- Description
Clear any occupied cells under robot footprint.
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<voxel layer> .max_obstacle_height: |
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- Description
Maximum height to add return to occupancy grid.
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<voxel layer> .z_voxels: |
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- Description
Number of voxels high to mark, maximum 16.
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<voxel layer> .origin_z: |
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- Description
Where to start marking voxels (m).
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<voxel layer> .z_resolution: |
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- Description
Resolution of voxels in height (m).
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<voxel layer> .unknown_threshold: |
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- Description
Minimum number of empty voxels in a column to mark as unknown in 2D occupancy grid.
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<voxel layer> .mark_threshold: |
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- Description
Minimum number of voxels in a column to mark as occupied in 2D occupancy grid.
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<voxel layer> .combination_method: |
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- Description
Enum for method to add data to master costmap, default to maximum.
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<voxel layer> .publish_voxel_map: |
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- Description
Whether to publish 3D voxel grid for debug, computationally expensive.
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<voxel layer> .observation_sources: |
|
Type |
Default |
vector<string> |
{“”} |
- Description
namespace of sources of data.
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<voxel layer> . <data source> .topic: |
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- Description
Topic of data.
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<voxel layer> . <data source> .sensor_frame: |
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- Description
Frame of sensor, to use if not provided by message. If empty, uses message frame_id.
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<voxel layer> . <data source> .observation_persistence: |
|
- Description
How long to store messages in a buffer to add to costmap before removing them (s).
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<voxel layer> . <data source> .expected_update_rate: |
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- Description
Expected rate to get new data from sensor.
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<voxel layer> . <data source> .data_type: |
|
Type |
Default |
string |
“LaserScan” |
- Description
Data type of input, LaserScan or PointCloud2.
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<voxel layer> . <data source> .min_obstacle_height: |
|
- Description
Minimum height to add return to occupancy grid.
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<voxel layer> . <data source> .max_obstacle_height: |
|
- Description
Maximum height to add return to occupancy grid.
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<voxel layer> . <data source> .inf_is_valid: |
|
- Description
Are infinite returns from laser scanners valid measurements to raycast.
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<voxel layer> . <data source> .marking: |
|
- Description
Whether source should mark in costmap.
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<voxel layer> . <data source> .clearing: |
|
- Description
Whether source should raytrace clear in costmap.
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<voxel layer> . <data source> .obstacle_max_range: |
|
- Description
Maximum range to mark obstacles in costmap.
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<voxel layer> . <data source> .obstacle_min_range: |
|
- Description
Minimum range to mark obstacles in costmap.
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<voxel layer> . <data source> .raytrace_max_range: |
|
- Description
Maximum range to raytrace clear obstacles from costmap.
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<voxel layer> . <data source> .raytrace_min_range: |
|
- Description
Minimum range to raytrace clear obstacles from costmap.
|