example

Author: JakubWarkocki

spatio_temporal_voxel_layer/example/uneven_terrain_config.yaml

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+global_costmap:
+  global_costmap:
+    ros__parameters:
+      rgbd_obstacle_layer:
+        plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
+        enabled:                  true
+        voxel_decay:              1.0  # seconds if linear, e^n if exponential
+        decay_model:              0     # 0=linear, 1=exponential, -1=persistent
+        voxel_size:               0.05  # meters
+        track_unknown_space:      true  # default space is known
+        mark_threshold:           0     # voxel height
+        update_footprint_enabled: true
+        combination_method:       1     # 1=max, 0=override
+        origin_z:                 0.0   # meters
+        publish_voxel_map:        false # default off
+        transform_tolerance:      0.2   # seconds
+        mapping_mode:             false # default off, saves map not for navigation
+        map_save_duration:        60.0  # default 60s, how often to autosave
+        observation_sources:      rgbd1_mark rgbd1_clear
+        rgbd1_mark:
+          data_type: PointCloud2
+          topic: camera1/depth/points
+          marking: true
+          clearing: false
+          obstacle_range: 3.0          # meters
+          min_obstacle_height: 0.3     # default 0, meters
+          max_obstacle_height: 2.0     # default 3, meters
+          expected_update_rate: 0.0    # default 0, if not updating at this rate at least, remove from buffer
+          observation_persistence: 0.0 # default 0, use all measurements taken during now-value, 0=latest
+          inf_is_valid: false          # default false, for laser scans
+          filter: "passthrough_relative"        # default passthrough, apply "voxel", "passthrough", their relative variants or no filter to sensor data, recommend on 
+          z_reference_frame: "base_link" # if unspecified keeps using global frame for z filter, frame to calcualte the z coordinate before transforming pointcloud to global frame
+          voxel_min_points: 0          # default 0, minimum points per voxel for voxel filter
+          clear_after_reading: true    # default false, clear the buffer after the layer gets readings from it
+        rgbd1_clear:
+          data_type: PointCloud2
+          topic: camera1/depth/points
+          marking: false
+          clearing: true
+          max_z: 7.0                  # default 0, meters
+          min_z: 0.1                  # default 10, meters
+          vertical_fov_angle: 0.8745  # default 0.7, radians
+          horizontal_fov_angle: 1.048 # default 1.04, radians
+          decay_acceleration: 1.0     # default 0, 1/s^2. If laser scanner MUST be 0
+          model_type: 0                # default 0, model type for frustum. 0=depth camera, 1=3d lidar like VLP16 or similar