footprint projection example

Author: JakubWarkocki

spatio_temporal_voxel_layer/example/uneven_terrain_config.yaml

@@ -10,6 +10,8 @@ global_costmap:
         track_unknown_space:      true  # default space is known
         mark_threshold:           0     # voxel height
         update_footprint_enabled: true
+        footprint_projection_enabled: true # default off, strongly recommended when using 3d IMU data
+        footprint_frame: "base_link" # necessary for use with footprint projection, 
         combination_method:       1     # 1=max, 0=override
         origin_z:                 0.0   # meters
         publish_voxel_map:        false # default off