https://github.com/stevemacenski/nonpersistent_voxel_layer
ROS drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable
https://github.com/stevemacenski/nonpersistent_voxel_layer
Last synced: about 1 month ago
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ROS drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable
- Host: GitHub
- URL: https://github.com/stevemacenski/nonpersistent_voxel_layer
- Owner: SteveMacenski
- License: bsd-3-clause
- Created: 2017-12-10T21:34:09.000Z (over 7 years ago)
- Default Branch: ros2
- Last Pushed: 2025-02-04T23:43:59.000Z (3 months ago)
- Last Synced: 2025-03-24T09:45:29.693Z (about 2 months ago)
- Language: C++
- Homepage: http://wiki.ros.org/nonpersistent_voxel_grid
- Size: 58.6 KB
- Stars: 45
- Watchers: 6
- Forks: 16
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# nonpersistent_voxel_layer
ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.
Bloom released, install via
```
sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer
```
Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren't dense enough to clear effectively.
http://wiki.ros.org/nonpersistent_voxel_grid
## Example Use
### in costmap commons
```
global_costmap:
global_costmap:
ros__parameters:
nonpersisting_obstacle_layer:
plugin: nav2_costmap_2d/NonPersistentVoxelLayer
enabled: true
track_unknown_space: true
max_obstacle_height: 1.8
unknown_threshold: 15
mark_threshold: 2
combination_method: 1
obstacle_range: 3.0
origin_z: 0.
z_resolution: 0.05
z_voxels: 16
publish_voxel_map: true
observation_sources: rgbd
rgbd:
data_type: PointCloud2
topic: camera/depth/points
marking: true
min_obstacle_height: 0.7
max_obstacle_height: 1.7
```
### in list of plugins for local/global
```
global_costmap:
global_costmap:
ros__parameters:
use_sim_time: True
plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]
```
## parameters
Parameters as the same as found in the voxel layer, except the clearing bits. See the Voxel Layer API. The above example is a good minimum working example