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Humble cloi #20

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Humble cloi #20

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Basic Info

Info Please fill out this column
Ticket(s) this addresses (add tickets here #1)
Primary OS tested on (Ubuntu, MacOS, Windows)
Robotic platform tested on (Steve's Robot, gazebo simulation of Tally, hardware turtlebot)

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

  • Check that any new parameters added are updated in navigation.ros.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

zikprid0 and others added 2 commits August 29, 2022 11:28
@zikprid0
modify nav2_params.yaml for cloi
9e0d8a5
@mergify @milidam @hyunseok-yang
Add a min_obstacle_height param to the nav2_costmap_2d's ObstacleLaye…
cf2ac6f 
…r plugin (ros-navigation#3211) (ros-navigation#3215)

This allows considering full range observations, specified by the
  <data source>.min_obstacle_height
and
  <data source>.max_obstacle_height
especially used for the raytracing, but to still be able to specify a
minimum obstacle height to report obstacles onto the costmap.

This is in particular required in the case a PointCloud2 source points
slightly towards the ground, sometimes detecting obstacles, that should be
cleared once the ground reappears behind the obstacle when it has moved
away: we don't want to detect the ground as an obstacle, but still want it
to be used in the raytracing to clear the previously detected obstacle.

(cherry picked from commit 0b4179b)

Co-authored-by: milidam <milidam@users.noreply.github.com>
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2 participants
@hyunseok-yang @zikprid0