test costmap + cam depth

2026-07-21 12:26:51 +07:00
parent 5d734a68fd
commit af99998d2e
11 changed files with 183 additions and 42 deletions
--- a/config/voxel_layer_params.yaml
+++ b/config/voxel_layer_params.yaml
@@ -1,13 +1,14 @@
 voxel_layer:
  enabled: true
  footprint_clearing_enabled: true
-  max_obstacle_height: 1.5
+  max_obstacle_height: 1.0
  origin_z: 0.0
  z_resolution: 0.15
  z_voxels: 8
  unknown_threshold: 15.0
  mark_threshold: 0
  combination_method: 1
+  publish_voxel_map: true
  frustum_clearing_enabled: false
  frustum_clearing_pixel_step: 8
  frustum_min_range: 0.20