Add a min_obstacle_height param to the nav2_costmap_2d's ObstacleLayer plugin (backport #3211) #3215
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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)
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SteveMacenski
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Sep 22, 2022
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hyunseok-yang
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Oct 6, 2022
…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 <[email protected]>
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