range-sensor-layer

You can integrate short-range sensors into a Nav2 costmap by configuring the range sensor layer plugin via YAML. This allows ToF, ultrasonic, and IR sensors publishing sensor_msgs/Range to mark obstacles dynamically.

Lidar often misses transparent surfaces like glass doors. Adding a range sensor layer to your Nav2 costmap allows short-range ToF or ultrasonic sensors to detect and mark these obstacles for safer navigation.

You can configure cone inflation, marking thresholds, and clearing behavior by adjusting the phi, clear_on_max_reading, and combination_method parameters in your Nav2 costmap YAML configuration file.

Yes, the range sensor layer supports configuration with multiple topics. You can define several ToF, ultrasonic, or IR sensor topics in the YAML to collectively mark and clear costmap cells.

Integrating short-range IR or ultrasonic sensors using a Nav2 costmap range layer is an effective approach. These sensors detect low obstacles below the lidar plane and mark them in the costmap.

Obstacle clearing issues in the range sensor layer often relate to YAML misconfiguration. Verify your clear_on_max_reading setting and combination_method to ensure cells are cleared correctly when sensors report maximum readings.