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Parametrizing obstacle layer tf filter tolerance #5261

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Jun 12, 2025
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Parametrizing obstacle layer tf filter tolerance #5261

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Parametrizing obstacle layer tf filter tolerance 
Signed-off-by: Marco Bassa <marco.bassa@idealworks.com>
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@MarcoMatteoBassa
MarcoMatteoBassa committed Jun 12, 2025
commit 40287a6afdafb3d6ef1a7d16de7ca9af0fee4a24
6 changes: 5 additions & 1 deletion nav2_costmap_2d/plugins/obstacle_layer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@
#include "pluginlib/class_list_macros.hpp"
#include "sensor_msgs/point_cloud2_iterator.hpp"
#include "nav2_costmap_2d/costmap_math.hpp"
#include "nav2_util/node_utils.hpp"
#include "rclcpp/version.h"

PLUGINLIB_EXPORT_CLASS(nav2_costmap_2d::ObstacleLayer, nav2_costmap_2d::Layer)
Expand Down Expand Up @@ -100,6 +101,8 @@ void ObstacleLayer::onInitialize()
node->get_parameter("track_unknown_space", track_unknown_space);
node->get_parameter("transform_tolerance", transform_tolerance);
node->get_parameter(name_ + "." + "observation_sources", topics_string);
double tf_filter_tolerance = nav2_util::declare_or_get_parameter(node, name_ + "." +
"tf_filter_tolerance", 0.05);

int combination_method_param{};
node->get_parameter(name_ + "." + "combination_method", combination_method_param);
Expand Down Expand Up @@ -278,7 +281,8 @@ void ObstacleLayer::onInitialize()
observation_subscribers_.push_back(sub);

observation_notifiers_.push_back(filter);
observation_notifiers_.back()->setTolerance(rclcpp::Duration::from_seconds(0.05));
observation_notifiers_.back()->setTolerance(rclcpp::Duration::from_seconds(
tf_filter_tolerance));

} else {
// For Kilted and Older Support from Message Filters API change
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