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Add a min_obstacle_height param to the nav2_costmap_2d's ObstacleLayer plugin #3211
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…r plugin 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.
@milidam, please properly fill in PR template in the future. @SteveMacenski, use this instead.
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SteveMacenski
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Sep 22, 2022
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…r plugin (#3211) 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)
mergify bot
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…r plugin (#3211) 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) # Conflicts: # nav2_costmap_2d/plugins/obstacle_layer.cpp
SteveMacenski
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…r plugin (#3211) (#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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…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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…r plugin (ros-navigation#3211) 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.
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Basic Info
Description of contribution in a few bullet points
When using a PointCloud2 source, nav2_costmap_2d's ObstacleLayer plugin won't clear obstacles detected on the ground when they move away, as the
<source>.min_obstacle_height
parameter either will filter out the ground for the raytracing (if set to > 0.0) or detect it as an obstacle (if set to 0.0).This problem is similar to #662.
This PR adds a new global
min_obstacle_height
parameter, allowing the per-source one to be extended to include the range to be taken into account for the retracing, while still filtering obstacles down to that new limit.Description of documentation updates required from your changes
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Future work that may be required in bullet points
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For Maintainers: