obstacle-layer

What problem does it solve?

Mark lethal obstacles in a 2D Nav2 costmap and clear them as the robot moves, using data from multiple sensors to maintain an accurate representation of the environment.

Core Features & Use Cases

• Multi-source observation handling: supports multiple sensors (e.g., scan, depth_camera) with independent marking and clearing configurations.
• Raytracing clearing: clears cells along sensor rays to prevent stale obstacles.
• Footprint-aware clearing: clears cells under the robot's footprint to avoid self-obstacles.
• Real-time validation: configurable expected_update_rate to detect stale data.

Quick Start

Run the obstacle-layer with your Nav2 configuration to begin marking obstacles from sensors and clearing cells during robot motion.