ROS Index
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) |
Packages
| Name | Version |
|---|---|
| nonpersistent_voxel_layer | 2.4.0 |
README
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
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/SteveMacenski/nonpersistent_voxel_layer.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2021-01-28 |
| 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) |
Packages
| Name | Version |
|---|---|
| nonpersistent_voxel_layer | 1.3.0 |
README
nonpersistent_voxel_layer 
ROS 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-kinetic-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.
Build and tested on ROS1 Kinetic, verified working in Indigo and Melodic
http://wiki.ros.org/nonpersistent_voxel_grid
Example Use
in costmap commons
nonpersisting_obstacle_layer:
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
plugins:
- {name: nonpersisting_obstacle_layer, type: "costmap_2d::NonPersistentVoxelLayer"}
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
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/SteveMacenski/nonpersistent_voxel_layer.git |
| VCS Type | git |
| VCS Version | galactic |
| Last Updated | 2021-11-29 |
| 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) |
Packages
| Name | Version |
|---|---|
| nonpersistent_voxel_layer | 2.2.2 |
README
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:
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"]
plugin_types: ["nav2_costmap_2d::StaticLayer", "nav2_costmap_2d::NonPersistentVoxelLayer"]
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
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/SteveMacenski/nonpersistent_voxel_layer.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2021-01-28 |
| 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) |
Packages
| Name | Version |
|---|---|
| nonpersistent_voxel_layer | 1.3.0 |
README
nonpersistent_voxel_layer
ROS 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-kinetic-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.
Build and tested on ROS1 Kinetic, verified working in Indigo and Melodic
http://wiki.ros.org/nonpersistent_voxel_grid
Example Use
in costmap commons
nonpersisting_obstacle_layer:
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
plugins:
- {name: nonpersisting_obstacle_layer, type: "costmap_2d::NonPersistentVoxelLayer"}
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