From bd79d51b16262b58069297b857be8f27bf51c501 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 3 Oct 2023 08:48:03 +0200
Subject: [PATCH] update

---
 config/nav2_params.yaml | 49 +++++++++++++++++++++++++++++++----------
 1 file changed, 37 insertions(+), 12 deletions(-)

diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 1992b3b..b9861d4 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -509,26 +509,51 @@ local_costmap:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 8.0 # was 3.0
         inflation_radius: 0.44
+      # voxel_layer:
+      #   plugin: "nav2_costmap_2d::VoxelLayer"
+      #   enabled: True
+      #   publish_voxel_map: True
+      #   origin_z: 0.0
+      #   z_resolution: 0.05
+      #   z_voxels: 16
+      #   max_obstacle_height: 2.0
+      #   mark_threshold: 0
+      #   observation_sources: scan
+      #   scan:
+      #     topic: /scan
+      #     max_obstacle_height: 2.0
+      #     clearing: True
+      #     marking: True
+      #     data_type: "LaserScan"
+      #     raytrace_max_range: 8.0 # was 3.0
+      #     raytrace_min_range: 0.0
+      #     obstacle_max_range: 2.5
+      #     obstacle_min_range: 0.0
       voxel_layer:
         plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True
-        publish_voxel_map: True
+        footprint_clearing_enabled: true
+        max_obstacle_height: 2.0
+        publish_voxel_map: false
         origin_z: 0.0
-        z_resolution: 0.05
+        z_resolution: 0.1
         z_voxels: 16
         max_obstacle_height: 2.0
-        mark_threshold: 0
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
+        unknown_threshold: 4
+        mark_threshold: 2
+        observation_sources: oak-d
+        combination_method: 1
+        oak-d:  # no frame set, uses frame from message
+          topic: /stereo/points
+          max_obstacle_height: 1.5
+          min_obstacle_height: 0.02
+          obstacle_max_range: 3.0
+          obstacle_min_range: 0.0
+          raytrace_max_range: 3.2
+          raytrace_min_range: 0.0
           clearing: True
           marking: True
-          data_type: "LaserScan"
-          raytrace_max_range: 8.0 # was 3.0
-          raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
-          obstacle_min_range: 0.0
+          data_type: "PointCloud2"
       static_layer:
         plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: True