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nonpersistent_voxel_layer package from nonpersistent_voxel_layer repo

nonpersistent_voxel_layer

Package Summary

Tags	No category tags.
Version	2.4.0
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/SteveMacenski/nonpersistent_voxel_layer.git
VCS Type	git
VCS Version	ros2
Last Updated	2024-05-24
Dev Status	MAINTAINED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.

Additional Links

Website

Maintainers

Steven Macenski

Authors

Steven Macenski
stevenmacenski gmail.com

README.md

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

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	geometry_msgs
	laser_geometry
	map_msgs
	nav_msgs
	nav2_msgs
	pluginlib
	rclcpp
	sensor_msgs
	std_msgs
	tf2_ros
	tf2
	visualization_msgs
	nav2_voxel_grid
	nav2_costmap_2d

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav2_costmap_2d

Recent questions tagged `nonpersistent_voxel_layer` at Robotics Stack Exchange

API Docs Browse Code Wiki

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