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.