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_max_range

Type	Default
double	2.5

Description: Maximum range to mark obstacles in costmap.

<voxel layer>. <data source>.obstacle_min_range

Type	Default
double	0.0

Description: Minimum range to mark obstacles in costmap.

<voxel layer>. <data source>.raytrace_max_range

Type	Default
double	3.0

Description: Maximum range to raytrace clear obstacles from costmap.

<voxel layer>. <data source>.raytrace_min_range

Type	Default
double	0.0

Description: Minimum range to raytrace clear obstacles from costmap.