When to use voxel layer and obstacle layer respectively?
From what I understand, if you have a 2D sensor such as laser scanner we should use obstacle layer since it "senses" in 2D and we should use voxel for 3D sensors e.g. lidars.
Can someone ELI5 the difference between voxel layer and obstacle layer other than voxel layer tracks obstacles in 3d and obstacle layer in 2d.