otimal

config/config/costmap_common_params.yaml

@@ -30,7 +30,7 @@ obstacles:
     marking: true
     inf_is_valid: false
     frustum_clearing_enabled: true
-    frustum_clearing_pixel_step: 8
+    frustum_clearing_pixel_step: 4
     frustum_min_range: 0.20
     frustum_max_range: 3.5
     observation_persistence: 0.0

config/config/costmap_params.yaml

@@ -1,7 +1,9 @@
 robot_costmap_2d:
   # Derived from pnkx_nav_core/config/costmap_local_params.yaml.
-  # NUC path is intentional for the user's local test workspace.
-  library_path: /home/robotics/DuongTD/dev_ws/devel/lib/libplugins.so
+  # Machine-specific absolute path: must point at the libplugins.so built in
+  # THIS machine's workspace (contains obstacle decay + ray dithering).
+  # NUC: /home/robotics/DuongTD/dev_ws/devel/lib/libplugins.so
+  library_path: /home/duongtd/T800_ws/devel/lib/libplugins.so
   global_frame: odom
   robot_base_frame: base_link
   rolling_window: true

config/config/obstacle_layer_params.yaml

@@ -30,7 +30,7 @@ obstacle_layer:
     marking: true
     inf_is_valid: false
     frustum_clearing_enabled: true
-    frustum_clearing_pixel_step: 8
+    frustum_clearing_pixel_step: 4
     frustum_min_range: 0.20
     frustum_max_range: 3.5
     observation_persistence: 0.0

config/config/voxel_layer_params.yaml

@@ -8,9 +8,30 @@ voxel_layer:
   unknown_threshold: 15.0
   mark_threshold: 0
   combination_method: 1
+  # Camera-only ghost handling: LETHAL cells not re-observed for this many
+  # seconds are freed. Covers cells frustum clearing can never reach (outside
+  # the current FOV, occlusion shadows). 0 disables (default). Only enable on
+  # camera-only costmaps: decay clears obstacles the sensor cannot see.
+  obstacle_decay_time: 4.0
+  # Clearing rays stop this far [m] before the measured surface. Negative
+  # keeps the legacy 2 * resolution behaviour (0.10 m at res 0.05).
+  frustum_skip_distance: 0.05
+  # Full-column clearing: per depth-image pixel column, the nearest return in
+  # the height band certifies the beam free and wipes whole voxel columns
+  # along it. Removes marked voxels the per-pixel 3D rays cannot reach
+  # (above the vertical FOV at close range). Measurement-driven: keeps
+  # obstacles outside the FOV untouched (no decay).
+  frustum_column_clearing: true
+  # Height band [m]; floor returns below min do not shorten the beam.
+  # max < 0: use max_obstacle_height.
+  column_clear_min_height: 0.10
+  column_clear_max_height: -1.0
+  # Full columns only cleared beyond this distance [m] (vertical FOV must
+  # cover the whole band). Negative: auto from camera intrinsics + mount pose.
+  column_cover_distance: -1.0
   publish_voxel_map: true
   frustum_clearing_enabled: false
-  frustum_clearing_pixel_step: 8
+  frustum_clearing_pixel_step: 4
   frustum_min_range: 0.20
   frustum_max_range: 3.5
   frustum_depth_camera_topic: /camera/depth/data

config/costmap_common_params.yaml

@@ -30,7 +30,7 @@ obstacles:
     marking: true
     inf_is_valid: false
     frustum_clearing_enabled: true
-    frustum_clearing_pixel_step: 8
+    frustum_clearing_pixel_step: 4
     frustum_min_range: 0.20
     frustum_max_range: 3.5
     observation_persistence: 0.0