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Finally I solved it using other type of layer (Spatio Temporal Voxel Layer) and generating a mark layer with the LaserScan topic with a voxel decay of 0.75 seconds. The configuration of the layer is the following:
laser_layer_temp:
enabled: true
voxel_decay: 0.75 #seconds if linear, e^n if exponential
decay_model: 0 #0=linear, 1=exponential, -1=persistent
voxel_size: 0.05 #meters
track_unknown_space: true #default space is unknown
observation_persistence: 0.0 #seconds
max_obstacle_height: 2.0 #meters
unknown_threshold: 15 #voxel height
mark_threshold: 0 #voxel height
update_footprint_enabled: true
combination_method: 1 #1=max, 0=override
obstacle_range: 3.0 #meters
origin_z: 0.0 #meters
publish_voxel_map: true # default off
transform_tolerance: 0.2 # seconds
mapping_mode: false # default off, saves map not for navigation
map_save_duration: 60 #default 60s, how often to autosave
observation_sources: rgbd1_mark
rgbd1_mark:
data_type: LaserScan
topic: /scan
marking: true
clearing: false
#min_obstacle_height: 0.3 #default 0, meters
#max_obstacle_height: 2.0 #defaule 3, meters
expected_update_rate: 0.0 #default 0, if not updating at this rate at least, remove from buffer
observation_persistence: 0.0 #default 0, use all measurements taken during now-value, 0=latest
inf_is_valid: false #default false, for laser scans
clear_after_reading: true #default false, clear the buffer after the layer gets readings from it
voxel_filter: true #default off, apply voxel filter to sensor, recommend on
voxel_min_points: 0 #default 0, minimum points per voxel for voxel filter
Best regards. Alessandro