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min_obstacle_height parameter have to be set under sensor namespace.

 ~<name>/<source_name>/min_obstacle_height(double, default: 0.0)

Reference: http://wiki.ros.org/costmap_2d/hydro/obstacles#VoxelCostmapPlugin

Example:

vertical_obstacle_layer:
  enabled: true
  obstacle_range: 3.0
  raytrace_range: 30.0
  max_obstacle_height: 1.0
  inflation_radius: 0.5
  publish_voxel_map: true
  observation_sources: right_scan_sensor
  right_scan_sensor: {sensor_frame: vert_right_laser_frame, data_type: LaserScan, topic: right_scan, marking: true, clearing: true, inf_is_valid: true, min_obstacle_height: 0.1, max_obstacle_height: 1.0}