Obstacle Layer Parameters

This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, depth, or other sensors. It contains a 2D costmap model within it that manages the planning space by the parameters specified below.

<obstacle layer> is the corresponding plugin name selected for this type.

<data source> is the corresponding observation source name for that sources parameters.

<obstacle layer>.enabled:

Type	Default
bool	True

Description

Whether it is enabled.

<obstacle layer>.footprint_clearing_enabled:

Type	Default
bool	True

Description

Clear any occupied cells under robot footprint.

<obstacle layer>.max_obstacle_height:

Type	Default
double	2.0

Description

Maximum height to add return to occupancy grid.

<obstacle layer>.combination_method:

Type	Default
int	1

Description

Enum for method to add data to master costmap. Must be 0, 1 or 2, default to 1 (see below).

0 - Overwrite: Overwrite master costmap with every valid observation.

1 - Max: Sets the new value to the maximum of the master_grid’s value and this layer’s value.

This is the default.

2 - MaxWithoutUnknownOverwrite: Sets the new value to the maximum of the master_grid’s

value and this layer’s value. If the master value is NO_INFORMATION, it is NOT overwritten.

It can be used to make sure that the static map is the dominant source of information, and

prevent the robot to go through places that are not present in the static map.

<obstacle layer>.observation_sources:

Type	Default
vector<string>	{“”}

Description

namespace of sources of data.

<obstacle layer>. <data source>.topic:

Type	Default
string	“”

Description

Topic of data.

<obstacle layer>. <data source>.sensor_frame:

Type	Default
string	“”

Description

Frame of sensor, to use if not provided by message. If empty, uses message frame_id.

<obstacle layer>. <data source>.observation_persistence:

Type	Default
double	0.0

Description

How long to store messages in a buffer to add to costmap before removing them (s).

<obstacle layer>. <data source>.expected_update_rate:

Type	Default
double	0.0

Description

Expected rate to get new data from sensor.

<obstacle layer>. <data source>.data_type:

Type	Default
string	“LaserScan”

Description

Data type of input, LaserScan or PointCloud2.

<obstacle layer>. <data source>.min_obstacle_height:

Type	Default
double	0.0

Description

Minimum height to add return to occupancy grid.

<obstacle layer>. <data source>.max_obstacle_height:

Type	Default
double	0.0

Description

Maximum height to add return to occupancy grid.

<obstacle layer>. <data source>.inf_is_valid:

Type	Default
bool	False

Description

Are infinite returns from laser scanners valid measurements to raycast.

<obstacle layer>. <data source>.marking:

Type	Default
bool	True

Description

Whether source should mark in costmap.

<obstacle layer>. <data source>.clearing:

Type	Default
bool	False

Description

Whether source should raytrace clear in costmap.

<obstacle layer>. <data source>.obstacle_max_range:

Type	Default
double	2.5

Description

Maximum range to mark obstacles in costmap.

<obstacle layer>. <data source>.obstacle_min_range:

Type	Default
double	0.0

Description

Minimum range to mark obstacles in costmap.

<obstacle layer>. <data source>.raytrace_max_range:

Type	Default
double	3.0

Description

Maximum range to raytrace clear obstacles from costmap.

<obstacle layer>. <data source>.raytrace_min_range:

Type	Default
double	0.0

Description

Minimum range to raytrace clear obstacles from costmap.