otimal

config/config/obstacle_layer_params.yaml

@@ -33,6 +33,24 @@ obstacle_layer:
     frustum_clearing_pixel_step: 4
     frustum_min_range: 0.20
     frustum_max_range: 3.5
+    # 3D clearing rays stop this far [m] before the measured surface.
+    # Negative: legacy 2 * resolution (0.10 m at res 0.05).
+    frustum_skip_distance: 0.05
+    # Full-column clearing: nearest in-band return per pixel column certifies
+    # the beam free and wipes whole voxel columns along it. Measurement-driven,
+    # never touches cells outside the FOV.
+    frustum_column_clearing: true
+    # Height band [m]; floor returns below min do not shorten the beam.
+    # max < 0: use the layer max_obstacle_height.
+    column_clear_min_height: 0.10
+    column_clear_max_height: -1.0
+    # Column beams stop this far [m] before the nearest in-band return
+    # (tighter than frustum_skip_distance so ghosts hugging static obstacles
+    # still get cleared).
+    column_skip_distance: 0.02
+    # Full columns only cleared beyond this distance [m] (vertical FOV must
+    # cover the whole band). Negative: auto from camera intrinsics + mount.
+    column_cover_distance: -1.0
     observation_persistence: 0.0
     expected_update_rate: 0.5
     obstacle_range: 2.5

config/config/voxel_layer_params.yaml

@@ -13,25 +13,7 @@ voxel_layer:
   # 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: 4
-  frustum_min_range: 0.20
-  frustum_max_range: 3.5
-  frustum_depth_camera_topic: /camera/depth/data
+  # Depth frustum / column clearing is configured PER OBSERVATION SOURCE in
+  # obstacle_layer_params.yaml (pc_clearing: frustum_skip_distance,
+  # frustum_column_clearing, column_clear_min/max_height,
+  # column_skip_distance, column_cover_distance).

config/costmap_common_params.yaml

@@ -33,6 +33,12 @@ obstacles:
     frustum_clearing_pixel_step: 4
     frustum_min_range: 0.20
     frustum_max_range: 3.5
+    frustum_skip_distance: 0.05
+    frustum_column_clearing: true
+    column_clear_min_height: 0.10
+    column_clear_max_height: -1.0
+    column_skip_distance: 0.02
+    column_cover_distance: -1.0
     observation_persistence: 0.0
     expected_update_rate: 0.5
     obstacle_range: 2.5