# Integrating voxel_layer into the costmap

I am trying to include data from a 3d sensor into a 2d costmap knowing that the costmap is also feeded by a 2d sensor. Therefore, I have different layers, an obstacle layer using 2d laser scan data and a voxel layer using 3d point cloud data from a time of flight device.

First of all, I would like to ask you few specific questions about some parameter settings. I saw through different related questions, that origin_x and origin_y should be set to -width/2 and -height/2 but I didn't understand why and if it is really required, since by default these values are set to 0. Should I set the map_type to voxel or keep it as static_map, knowing that I need to get both layers appear in the costmap. In the voxel layer, do we need to set a negative min_obstacle_height? I would like to precise that in the robot urdf the base_link is lower than the 3d sensor which is itself lower then the laser sensor.

Next, I would like to see if there is something wrong or missing in the way the parameters are defined. At the end of this post, you can find the parameter settings of the different costmap files. In results to this set of configuration, I can visualize the 3d cloud separately but it does not have any impact on the costmap. Yet the laser data is well taken into account in the local costmap where the marking is set to true for both sensors. So I expect to have both sensor data affecting the local costmap. In the global costmap, however, marking is set to true only for the 3d sensor and yet the corresponding data seems not to be included. The voxel_grid topic also seems not to be updated (same values all the time), and following a solution found online to visualize the voxel grid on rviz, I tried to transform the voxel grid into a point cloud as sensor_msgs::PointCloud but the point cloud is empty. I think the problem is in the integration of the voxel layer itself into the costmap. Something must be missing either in the configuration files or a plugin, for example, in my ros version. I am using ros indigo - version 1.11.20

The result I am looking for, concerning the voxel layer, is similar to this video, in addition of course to keep the laser layer in the costmap:

Please find below the yaml settings :

costmap_common.yaml

transform_tolerance: 0.5



costmap_global.yaml

global_costmap:

global_frame: map

update_frequency: 0.5

publish_frequency: 0.1

static_map: true

map_type: costmap

track_unknown_space: true


costmap_local.yaml

local_costmap:

global_frame: map

publish_frequency: 1.0

update_frequency: 2.0

rolling_window: true

map_type: costmap


global_costmap_plugins.yaml

global_costmap:
width: 10.0
height: 10.0
resolution: 0.03
origin_x: -5.0
origin_y: -5.0

plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: laser_layer, type: "costmap_2d::ObstacleLayer"}
- {name: tof_layer, type: "costmap_2d::VoxelLayer ...
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Hi,layale.saab

I have the similar work with you.I have a 2D laidr sensor and a 3D depth sensor and the obstacle_layer, static_layer, inflation_layer and the voxel_layer all work in a costmap (2D).I transform voxel_grid topic to pointcloud,so I could add the voxel_grid in the rviz , I have make a test in navigation , in my test,the voxel_grid add only, do not eliminate in my rviz .That is to say, only add obstacles(voxel_grid), the obstacle in the costmap_2d not clear, Did you encounter this problem?

local_costmap_params.yaml

local_costmap:
global_frame: /odom
update_frequency: 3
publish_frequency: 3
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.025
transform_tolerance: 1.0
map_type: costmap

#static_layer:
#enabled: false

plugins:
- {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
- {name: voxel_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer,   type: "costmap_2d::InflationLayer"}


global_costmap_params.yaml

    global_costmap:
global_frame: /map
update_frequency: 3
publish_frequency: 0.2
static_map: true
rolling_window: false
resolution: 0.025
transform_tolerance: 1.0
map_type: costmap
static_layer:
enabled: false


costmap_common_params.yaml

inflation_layer:
cost_scaling_factor: 0.5

obstacle_layer:
obstacle_range: 2.5
raytrace_range: 3.0
max_obstacle_height: 1.6 #1.3
min_obstacle_height: 0.03
observation_sources: scan
scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0, inf_is_valid: true}

voxel_layer:
enabled: true
origin_z: 0.0
z_resolution: 0.05
z_voxels: 10
unknown_threshold: 0
#mark_threshold: 2
publish_voxel_map: true
combination_method: 1
observation_sources: output_points
output_points:
data_type: PointCloud2
topic: /output_points
marking: true
clearing: true
obstacle_range: 1.90
raytrace_range: 2.00
min_obstacle_height: 0.00
max_obstacle_height: 3.00
mark_threshold: 3
observation_persistence: 2.0

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