Voxel layer from costmap_2d package takes into account robot z position

2026-10-07 02:07:45 +08:00 · 2019-11-05 15:37:49 -05:00
parent 3282b7b946
commit 420d7403dd
4 changed files with 701 additions and 1 deletions
@@ -3,6 +3,9 @@
    <class type="rtabmap_ros::StaticLayer"     base_class_type="costmap_2d::Layer">
      <description>Listens to OccupancyGrid messages and copies them in, like from map_server.</description>
    </class>
+    <class type="rtabmap_ros::VoxelLayer"     base_class_type="costmap_2d::Layer">
+      <description>Similar to obstacle costmap, but uses 3D voxel grid to store data.</description>
+    </class>
  </library>
 </class_libraries>