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: bool Default: true: Whether it is enabled.

`<voxel layer>.footprint_clearing_enabled`

Type: bool Default: true: Clear any occupied cells under robot footprint.

`<voxel layer>.min_obstacle_height`

Type: double Default: 0.0: Minimum height to add return to occupancy grid.

`<voxel layer>.max_obstacle_height`

Type: double Default: 2.0: Maximum height to add return to occupancy grid.

`<voxel layer>.z_voxels`

Type: int Default: 10: Number of voxels high to mark, maximum 16.

`<voxel layer>.origin_z`

Type: double Default: 0.0: Where to start marking voxels (m).

`<voxel layer>.z_resolution`

Type: double Default: 0.2: Resolution of voxels in height (m).

`<voxel layer>.unknown_threshold`

Type: int Default: 15: Minimum number of empty voxels in a column to mark as unknown in 2D occupancy grid.

`<voxel layer>.mark_threshold`

Type: int Default: 0: Minimum number of voxels in a column to mark as occupied in 2D occupancy grid.

`<voxel layer>.combination_method`

Type: int Default: 1

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: bool Default: false: Whether to publish 3D voxel grid for debug, computationally expensive.

`<voxel layer>.tf_filter_tolerance`

Type: double Default: 0.05: Tolerance for the tf2_ros::MessageFilter.

`<voxel layer>.observation_sources`

Type: vector<string> Default: [""]: Namespace of sources of data.

`<voxel layer>.<data source>.topic`

Type: string Default: ""

Topic of data.

Relative topics will be relative to the node's parent namespace. For example, if you specify topic: scan in the voxel_layer of a local_costmap and you launch your bringup with a tb4 namespace:

User chosen namespace is tb4.
User chosen topic is scan.
Topic will be remapped to /tb4/scan without local_costmap.
Use global topic /scan if you do not wish the node namespace to apply.

`<voxel layer>.<data source>.sensor_frame`

Type: string Default: "": Frame of sensor, to use if not provided by message. If empty, uses message frame_id.

`<voxel layer>.<data source>.observation_persistence`

Type: double Default: 0.0: How long to store messages in a buffer to add to costmap before removing them (s).

`<voxel layer>.<data source>.expected_update_rate`

Type: double Default: 0.0: Expected rate to get new data from sensor.

`<voxel layer>.<data source>.data_type`

Type: string Default: "LaserScan": Data type of input, "LaserScan" or "PointCloud2".

`<voxel layer>.<data source>.transport_type`

Type: string Default: "raw"

For PointCloud2 data, specify the transport plugin to use:

"raw": No compression. Default; highest bandwidth usage.
"draco": Lossy compression via Google.
"zlib": Lossless compression via Zlib compression.
"zstd": Lossless compression via Zstd compression.

See the known transports for more details.

`<voxel layer>.<data source>.min_obstacle_height`

Type: double Default: 0.0: Minimum height to add return to occupancy grid.

`<voxel layer>.<data source>.max_obstacle_height`

Type: double Default: 0.0: Maximum height to add return to occupancy grid.

`<voxel layer>.<data source>.inf_is_valid`

Type: bool Default: false: Are infinite returns from laser scanners valid measurements to raycast.

`<voxel layer>.<data source>.marking`

Type: bool Default: true: Whether source should mark in costmap.

`<voxel layer>.<data source>.clearing`

Type: bool Default: false: Whether source should raytrace clear in costmap.

`<voxel layer>.<data source>.obstacle_max_range`

Type: double Default: 2.5: Maximum range to mark obstacles in costmap.

`<voxel layer>.<data source>.obstacle_min_range`

Type: double Default: 0.0: Minimum range to mark obstacles in costmap.

`<voxel layer>.<data source>.raytrace_max_range`

Type: double Default: 3.0: Maximum range to raytrace clear obstacles from costmap.

`<voxel layer>.<data source>.raytrace_min_range`

Type: double Default: 0.0: Minimum range to raytrace clear obstacles from costmap.