test costmap + cam depth

config/obstacle_layer_params.yaml

@@ -1,10 +1,12 @@
 obstacle_layer:
+  enabled: true
   track_unknown_space: false
-  transform_tolerance: 0.5
+  transform_tolerance: 1.0
   footprint_clearing_enabled: true
-  max_obstacle_height: 1.5
   combination_method: 1
 
+  # Subset of costmap_common_params.yaml for the topics available in this
+  # local depth-camera test.
   observation_sources: pc_marking pc_clearing
 
   pc_marking:
@@ -13,13 +15,13 @@ obstacle_layer:
     clearing: false
     marking: true
     inf_is_valid: false
+    frustum_clearing_enabled: false
     observation_persistence: 0.0
     expected_update_rate: 0.5
     obstacle_range: 2.5
     raytrace_range: 3.0
-    min_obstacle_height: 0.10
+    min_obstacle_height: 0.1
     max_obstacle_height: 1.0
-    frustum_clearing_enabled: false
 
   pc_clearing:
     topic: /camera/depth/data
@@ -27,13 +29,13 @@ obstacle_layer:
     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
+    observation_persistence: 0.0
+    expected_update_rate: 0.5
+    obstacle_range: 2.5
+    raytrace_range: 3.5
+    min_obstacle_height: 0.1
+    max_obstacle_height: 1.0