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Option for ObstacleLayer to not overwrite StaticLayer's unknown parts #438

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Merged
SteveMacenski merged 5 commits into from
Jun 21, 2023
Merged

Option for ObstacleLayer to not overwrite StaticLayer's unknown parts #438

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c5c6c79
Add enum options to Obstacle Layer params
RBT22 Jun 20, 2023
343e932
Add enum options to Voxel Layer params
RBT22 Jun 20, 2023
257470a
Update configuration/packages/costmap-plugins/obstacle.rst
SteveMacenski Jun 20, 2023
7dbdc28
Update configuration/packages/costmap-plugins/voxel.rst
SteveMacenski Jun 20, 2023
8833a0d
Add migration guide
RBT22 Jun 21, 2023
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13 changes: 12 additions & 1 deletion configuration/packages/costmap-plugins/obstacle.rst
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Expand Up @@ -49,7 +49,18 @@ Obstacle Layer Parameters
====== =======

Description
Enum for method to add data to master costmap, default to maximum.
Enum for method to add data to master costmap. Must be 0, 1 or 2, default to 1 (see below).

| 0 - Overwrite: Overwrite master costmap with every valid observation.

| 1 - Max: Sets the new value to the maximum of the master_grid's value and this layer's value.
| If the master value is NO_INFORMATION, it is overwritten. This is the default.
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| 2 - MaxWithoutUnknownOverwrite: Sets the new value to the maximum of the master_grid's
| value and this layer's value. If the master value is NO_INFORMATION, it is NOT overwritten.
| It can be used to make sure that the static map is the dominant source of information, and
| prevent the robot to go through places that are not present in the static map.


:``<obstacle layer>``.observation_sources:

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12 changes: 11 additions & 1 deletion configuration/packages/costmap-plugins/voxel.rst
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Expand Up @@ -104,7 +104,17 @@ Voxel Layer Parameters
====== =======

Description
Enum for method to add data to master costmap, default to maximum.
Enum for method to add data to master costmap. Must be 0, 1 or 2, default to 1 (see below).

| 0 - Overwrite: Overwrite master costmap with every valid observation.

| 1 - Max: Sets the new value to the maximum of the master_grid's value and this layer's value.
| If the master value is NO_INFORMATION, it is overwritten. This is the default.
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| 2 - MaxWithoutUnknownOverwrite: Sets the new value to the maximum of the master_grid's
| value and this layer's value. If the master value is NO_INFORMATION, it is NOT overwritten.
| It can be used to make sure that the static map is the dominant source of information, and
| prevent the robot to go through places that are not present in the static map.

:``<voxel layer>``.publish_voxel_map:

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