Commits on Sep 22, 2022

1. Add a min_obstacle_height param to the nav2_costmap_2d's ObstacleLaye… …

   …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 committed Sep 22, 2022
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