update: added stvl layer

config/nav2_params.yaml

@@ -546,7 +546,44 @@ global_costmap:
       footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon
       resolution: 0.05
       track_unknown_space: true
-      plugins: ["static_layer", "obstacle_layer", "inflation_layer", "denoise_layer"]
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer", "denoise_layer", "stvl_layer"]
+      stvl_layer:
+        plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
+        enabled: true
+        voxel_decay: 15.
+        decay_model: 0
+        voxel_size: 0.05
+        track_unknown_space: true
+        unknown_threshold: 15
+        mark_threshold: 0
+        update_footprint_enabled: true
+        combination_method: 1
+        origin_z: 0.0
+        publish_voxel_map: true
+        transform_tolerance: 0.2
+        mapping_mode: false
+        map_save_duration: 60.0
+        observation_sources: pointcloud
+        pointcloud:
+          data_type: PointCloud2
+          topic: /stereo/points
+          marking: true
+          clearing: true
+          obstacle_range: 3.0
+          min_obstacle_height: 0.0
+          max_obstacle_height: 2.0
+          expected_update_rate: 0.0
+          observation_persistence: 0.0
+          inf_is_valid: false
+          filter: "voxel"
+          voxel_min_points: 0
+          clear_after_reading: true
+          max_z: 7.0
+          min_z: 0.1
+          vertical_fov_angle: 0.8745
+          horizontal_fov_angle: 1.048
+          decay_acceleration: 15.0
+          model_type: 0
       denoise_layer:
         plugin: "nav2_costmap_2d::DenoiseLayer"
         enabled: True