test costmap + cam depth

2026-07-21 11:10:55 +07:00
commit 5d734a68fd
9 changed files with 754 additions and 0 deletions
--- a/config/voxel_layer_params.yaml
+++ b/config/voxel_layer_params.yaml
@@ -0,0 +1,15 @@
+voxel_layer:
+  enabled: true
+  footprint_clearing_enabled: true
+  max_obstacle_height: 1.5
+  origin_z: 0.0
+  z_resolution: 0.15
+  z_voxels: 8
+  unknown_threshold: 15.0
+  mark_threshold: 0
+  combination_method: 1
+  frustum_clearing_enabled: false
+  frustum_clearing_pixel_step: 8
+  frustum_min_range: 0.20
+  frustum_max_range: 3.5
+  frustum_depth_camera_topic: /camera/depth/data