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Relative Variants of Voxel and Passthrough Filters and Footprint Projection for Slope Navigation #304

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Relative Variants of Voxel and Passthrough Filters and Footprint Projection for Slope Navigation #304

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92d84b2
relative filters
JakubWarkocki Sep 19, 2024
62866bc
relative filters
JakubWarkocki Sep 19, 2024
44c17cb
example
JakubWarkocki Sep 19, 2024
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footprint projection
JakubWarkocki Sep 20, 2024
b30f904
footprint projection example
JakubWarkocki Sep 20, 2024
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requested changes (not finished)
JakubWarkocki Oct 18, 2024
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requested changes
JakubWarkocki Oct 19, 2024
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bugfix
JakubWarkocki Oct 19, 2024
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footprint projection example
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@JakubWarkocki
JakubWarkocki committed Sep 20, 2024
commit b30f90494acb6576a9c87455b6bfc9f1ae5533b6
2 changes: 2 additions & 0 deletions spatio_temporal_voxel_layer/example/uneven_terrain_config.yaml
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Expand Up @@ -10,6 +10,8 @@ global_costmap:
track_unknown_space: true # default space is known
mark_threshold: 0 # voxel height
update_footprint_enabled: true
footprint_projection_enabled: true # default off, strongly recommended when using 3d IMU data
footprint_frame: "base_link" # necessary for use with footprint projection,
combination_method: 1 # 1=max, 0=override
origin_z: 0.0 # meters
publish_voxel_map: false # default off
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