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Fix obstacle layer and voxel layer #803

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Merged
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Nov 6, 2025
Merged

Fix obstacle layer and voxel layer #803

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30 changes: 15 additions & 15 deletions configuration/packages/costmap-plugins/obstacle.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
Description
namespace of sources of data.

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

====== =======
Type Default
Expand All @@ -115,7 +115,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
* Topic will be remapped to `/tb4/scan` without `local_costmap`.
* Use global topic `/scan` if you do not wish the node namespace to apply.

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

====== =======
Type Default
Expand All @@ -126,7 +126,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
Description
Frame of sensor, to use if not provided by message. If empty, uses message frame_id.

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

====== =======
Type Default
Expand All @@ -137,7 +137,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
Description
How long to store messages in a buffer to add to costmap before removing them (s).

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

====== =======
Type Default
Expand All @@ -148,7 +148,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
Description
Expected rate to get new data from sensor.

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

====== ===========
Type Default
Expand All @@ -159,7 +159,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
Description
Data type of input, LaserScan or PointCloud2.

:``<obstacle layer>``. ``<data source>``.transport_type:
:``<obstacle layer>.<data source>``.transport_type:

====== ===========
Type Default
Expand All @@ -177,7 +177,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de

See the `known transports <https://github.com/ros-perception/point_cloud_transport_plugins>`_ for more details.

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

====== =======
Type Default
Expand All @@ -188,7 +188,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
Description
Minimum height to add return to occupancy grid.

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

====== =======
Type Default
Expand All @@ -199,7 +199,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
Description
Maximum height to add return to occupancy grid.

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

====== =======
Type Default
Expand All @@ -210,7 +210,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
Description
Are infinite returns from laser scanners valid measurements to raycast.

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

====== =======
Type Default
Expand All @@ -221,7 +221,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
Description
Whether source should mark in costmap.

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

====== =======
Type Default
Expand All @@ -232,7 +232,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
Description
Whether source should raytrace clear in costmap.

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

====== =======
Type Default
Expand All @@ -243,7 +243,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
Description
Maximum range to mark obstacles in costmap.

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

====== =======
Type Default
Expand All @@ -254,7 +254,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
Description
Minimum range to mark obstacles in costmap.

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

====== =======
Type Default
Expand All @@ -265,7 +265,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
Description
Maximum range to raytrace clear obstacles from costmap.

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

====== =======
Type Default
Expand Down
30 changes: 15 additions & 15 deletions configuration/packages/costmap-plugins/voxel.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -162,7 +162,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
Description
namespace of sources of data.

:``<voxel layer>``. ``<data source>``.topic:
:``<voxel layer>.<data source>``.topic:

====== =======
Type Default
Expand All @@ -181,7 +181,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
* Topic will be remapped to `/tb4/scan` without `local_costmap`.
* Use global topic `/scan` if you do not wish the node namespace to apply.

:``<voxel layer>``. ``<data source>``.sensor_frame:
:``<voxel layer>.<data source>``.sensor_frame:

====== =======
Type Default
Expand All @@ -192,7 +192,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
Description
Frame of sensor, to use if not provided by message. If empty, uses message frame_id.

:``<voxel layer>``. ``<data source>``.observation_persistence:
:``<voxel layer>.<data source>``.observation_persistence:

====== =======
Type Default
Expand All @@ -203,7 +203,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
Description
How long to store messages in a buffer to add to costmap before removing them (s).

:``<voxel layer>``. ``<data source>``.expected_update_rate:
:``<voxel layer>.<data source>``.expected_update_rate:

====== =======
Type Default
Expand All @@ -214,7 +214,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
Description
Expected rate to get new data from sensor.

:``<voxel layer>``. ``<data source>``.data_type:
:``<voxel layer>.<data source>``.data_type:

====== ===========
Type Default
Expand All @@ -225,7 +225,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
Description
Data type of input, LaserScan or PointCloud2.

:``<voxel layer>``. ``<data source>``.transport_type:
:``<voxel layer>.<data source>``.transport_type:

====== ===========
Type Default
Expand All @@ -243,7 +243,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or

See the `known transports <https://github.com/ros-perception/point_cloud_transport_plugins>`_ for more details.

:``<voxel layer>``. ``<data source>``.min_obstacle_height:
:``<voxel layer>.<data source>``.min_obstacle_height:

====== =======
Type Default
Expand All @@ -254,7 +254,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
Description
Minimum height to add return to occupancy grid.

:``<voxel layer>``. ``<data source>``.max_obstacle_height:
:``<voxel layer>.<data source>``.max_obstacle_height:

====== =======
Type Default
Expand All @@ -265,7 +265,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
Description
Maximum height to add return to occupancy grid.

:``<voxel layer>``. ``<data source>``.inf_is_valid:
:``<voxel layer>.<data source>``.inf_is_valid:

====== =======
Type Default
Expand All @@ -276,7 +276,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
Description
Are infinite returns from laser scanners valid measurements to raycast.

:``<voxel layer>``. ``<data source>``.marking:
:``<voxel layer>.<data source>``.marking:

====== =======
Type Default
Expand All @@ -287,7 +287,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
Description
Whether source should mark in costmap.

:``<voxel layer>``. ``<data source>``.clearing:
:``<voxel layer>.<data source>``.clearing:

====== =======
Type Default
Expand All @@ -298,7 +298,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
Description
Whether source should raytrace clear in costmap.

:``<voxel layer>``. ``<data source>``.obstacle_max_range:
:``<voxel layer>.<data source>``.obstacle_max_range:

====== =======
Type Default
Expand All @@ -309,7 +309,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
Description
Maximum range to mark obstacles in costmap.

:``<voxel layer>``. ``<data source>``.obstacle_min_range:
:``<voxel layer>.<data source>``.obstacle_min_range:

====== =======
Type Default
Expand All @@ -320,7 +320,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
Description
Minimum range to mark obstacles in costmap.

:``<voxel layer>``. ``<data source>``.raytrace_max_range:
:``<voxel layer>.<data source>``.raytrace_max_range:

====== =======
Type Default
Expand All @@ -331,7 +331,7 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
Description
Maximum range to raytrace clear obstacles from costmap.

:``<voxel layer>``. ``<data source>``.raytrace_min_range:
:``<voxel layer>.<data source>``.raytrace_min_range:

====== =======
Type Default
Expand Down
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