test costmap + cam depth

config/obstacle_layer_params.yaml

@@ -0,0 +1,39 @@
+obstacle_layer:
+  track_unknown_space: false
+  transform_tolerance: 0.5
+  footprint_clearing_enabled: true
+  max_obstacle_height: 1.5
+  combination_method: 1
+
+  observation_sources: pc_marking pc_clearing
+
+  pc_marking:
+    topic: /camera/depth/points_proc
+    data_type: PointCloud2
+    clearing: false
+    marking: true
+    inf_is_valid: false
+    observation_persistence: 0.0
+    expected_update_rate: 0.5
+    obstacle_range: 2.5
+    raytrace_range: 3.0
+    min_obstacle_height: 0.10
+    max_obstacle_height: 1.0
+    frustum_clearing_enabled: false
+
+  pc_clearing:
+    topic: /camera/depth/data
+    data_type: DepthCameraData
+    clearing: false
+    marking: true
+    inf_is_valid: false
+    observation_persistence: 0.0
+    expected_update_rate: 0.5
+    obstacle_range: 2.5
+    raytrace_range: 3.5
+    min_obstacle_height: 0.10
+    max_obstacle_height: 1.0
+    frustum_clearing_enabled: true
+    frustum_clearing_pixel_step: 8
+    frustum_min_range: 0.20
+    frustum_max_range: 3.5