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Add a min_obstacle_height param to the nav2_costmap_2d's ObstacleLayer plugin#3211

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SteveMacenski merged 1 commit intoros-navigation:mainfrom
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Sep 22, 2022
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Add a min_obstacle_height param to the nav2_costmap_2d's ObstacleLayer plugin#3211
SteveMacenski merged 1 commit intoros-navigation:mainfrom
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@milidam milidam commented Sep 22, 2022

Basic Info

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Ticket(s) this addresses /
Primary OS tested on Ubuntu 22.04
Robotic platform tested on gazebo simulation

Description of contribution in a few bullet points

When using a PointCloud2 source, nav2_costmap_2d's ObstacleLayer plugin won't clear obstacles detected on the ground when they move away, as the <source>.min_obstacle_height parameter either will filter out the ground for the raytracing (if set to > 0.0) or detect it as an obstacle (if set to 0.0).
This problem is similar to #662.

This PR adds a new global min_obstacle_height parameter, allowing the per-source one to be extended to include the range to be taken into account for the retracing, while still filtering obstacles down to that new limit.

Description of documentation updates required from your changes

/

Future work that may be required in bullet points

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For Maintainers:

  • Check that any new parameters added are updated in navigation.ros.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

@milidam
Add a min_obstacle_height param to the nav2_costmap_2d's ObstacleLaye…
91af53a 
…r plugin

This allows considering full range observations, specified by the
  <data source>.min_obstacle_height
and
  <data source>.max_obstacle_height
especially used for the raytracing, but to still be able to specify a
minimum obstacle height to report obstacles onto the costmap.

This is in particular required in the case a PointCloud2 source points
slightly towards the ground, sometimes detecting obstacles, that should be
cleared once the ground reappears behind the obstacle when it has moved
away: we don't want to detect the ground as an obstacle, but still want it
to be used in the raytracing to clear the previously detected obstacle.
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mergify bot commented Sep 22, 2022

@milidam, please properly fill in PR template in the future. @SteveMacenski, use this instead.

  • Check that any new parameters added are updated in navigation.ros.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

@milidam milidam mentioned this pull request Sep 22, 2022
Closed
7 tasks
@SteveMacenski SteveMacenski merged commit 0b4179b into ros-navigation:main Sep 22, 2022
@mergify mergify bot mentioned this pull request Sep 22, 2022
Merged
mergify bot pushed a commit that referenced this pull request Sep 22, 2022
@milidam @mergify
Add a min_obstacle_height param to the nav2_costmap_2d's ObstacleLaye…
ca56004 
…r plugin (#3211)

This allows considering full range observations, specified by the
  <data source>.min_obstacle_height
and
  <data source>.max_obstacle_height
especially used for the raytracing, but to still be able to specify a
minimum obstacle height to report obstacles onto the costmap.

This is in particular required in the case a PointCloud2 source points
slightly towards the ground, sometimes detecting obstacles, that should be
cleared once the ground reappears behind the obstacle when it has moved
away: we don't want to detect the ground as an obstacle, but still want it
to be used in the raytracing to clear the previously detected obstacle.

(cherry picked from commit 0b4179b)
mergify bot pushed a commit that referenced this pull request Sep 22, 2022
@milidam @mergify
Add a min_obstacle_height param to the nav2_costmap_2d's ObstacleLaye…
ccfc57e 
…r plugin (#3211)

This allows considering full range observations, specified by the
  <data source>.min_obstacle_height
and
  <data source>.max_obstacle_height
especially used for the raytracing, but to still be able to specify a
minimum obstacle height to report obstacles onto the costmap.

This is in particular required in the case a PointCloud2 source points
slightly towards the ground, sometimes detecting obstacles, that should be
cleared once the ground reappears behind the obstacle when it has moved
away: we don't want to detect the ground as an obstacle, but still want it
to be used in the raytracing to clear the previously detected obstacle.

(cherry picked from commit 0b4179b)

# Conflicts:
#	nav2_costmap_2d/plugins/obstacle_layer.cpp
@mergify mergify bot mentioned this pull request Sep 22, 2022
Closed
SteveMacenski pushed a commit that referenced this pull request Sep 22, 2022
@mergify @milidam
Add a min_obstacle_height param to the nav2_costmap_2d's ObstacleLaye…
48c7dc0 
…r plugin (#3211) (#3215)

This allows considering full range observations, specified by the
  <data source>.min_obstacle_height
and
  <data source>.max_obstacle_height
especially used for the raytracing, but to still be able to specify a
minimum obstacle height to report obstacles onto the costmap.

This is in particular required in the case a PointCloud2 source points
slightly towards the ground, sometimes detecting obstacles, that should be
cleared once the ground reappears behind the obstacle when it has moved
away: we don't want to detect the ground as an obstacle, but still want it
to be used in the raytracing to clear the previously detected obstacle.

(cherry picked from commit 0b4179b)

Co-authored-by: milidam <milidam@users.noreply.github.com>
@hyunseok-yang hyunseok-yang mentioned this pull request Oct 6, 2022
Merged
7 tasks
hyunseok-yang pushed a commit to lge-ros2/navigation2 that referenced this pull request Oct 6, 2022
@mergify @milidam @hyunseok-yang
Add a min_obstacle_height param to the nav2_costmap_2d's ObstacleLaye…
cf2ac6f 
…r plugin (ros-navigation#3211) (ros-navigation#3215)

This allows considering full range observations, specified by the
  <data source>.min_obstacle_height
and
  <data source>.max_obstacle_height
especially used for the raytracing, but to still be able to specify a
minimum obstacle height to report obstacles onto the costmap.

This is in particular required in the case a PointCloud2 source points
slightly towards the ground, sometimes detecting obstacles, that should be
cleared once the ground reappears behind the obstacle when it has moved
away: we don't want to detect the ground as an obstacle, but still want it
to be used in the raytracing to clear the previously detected obstacle.

(cherry picked from commit 0b4179b)

Co-authored-by: milidam <milidam@users.noreply.github.com>
jwallace42 pushed a commit to jwallace42/navigation2 that referenced this pull request Dec 14, 2022
@milidam
Add a min_obstacle_height param to the nav2_costmap_2d's ObstacleLaye…
c6bd5c5 
…r plugin (ros-navigation#3211)

This allows considering full range observations, specified by the
  <data source>.min_obstacle_height
and
  <data source>.max_obstacle_height
especially used for the raytracing, but to still be able to specify a
minimum obstacle height to report obstacles onto the costmap.

This is in particular required in the case a PointCloud2 source points
slightly towards the ground, sometimes detecting obstacles, that should be
cleared once the ground reappears behind the obstacle when it has moved
away: we don't want to detect the ground as an obstacle, but still want it
to be used in the raytracing to clear the previously detected obstacle.
@mini-1235
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mini-1235 commented Jul 24, 2025

Given this PR, is it reasonable to add this parameter to voxel layer as well?

@SteveMacenski
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SteveMacenski commented Jul 24, 2025

We get the parameter, yes, but do we use it anywhere for the voxel grid? The Obstacle Layer's Update Bounds isn't used in the voxel layer I don't think. But we could make use of it easily in the same way in the Voxel Layer (and then add the parameter, since it would do something)

      // if the obstacle is too low, we won't add it
      if (pz < min_obstacle_height_) {
        RCLCPP_DEBUG(logger_, "The point is too low");
        continue;
      }

@mini-1235
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mini-1235 commented Jul 24, 2025

Yes, I meant to add this part

      // if the obstacle is too low, we won't add it
      if (pz < min_obstacle_height_) {
        RCLCPP_DEBUG(logger_, "The point is too low");
        continue;
      }

to voxel layer since this PR do so

@SteveMacenski
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SteveMacenski commented Jul 24, 2025

OK! Please open the PR and add to the docs :-)

@mini-1235 mini-1235 mentioned this pull request Jul 24, 2025
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