voxel-layer
Community3D obstacle clearance with voxel layers.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
VoxelLayer extends ObstacleLayer with a 3D voxel grid for proper volumetric raycasting. It enables accurate obstacle clearing across height dimensions when using depth sensors or 3D LiDAR.
Core Features & Use Cases
- 3D voxel grid per (x, y) cell with z_voxels and z_resolution to capture height variation and enable 3D raycasting.
- 3D raycasting for simultaneous clearance across multiple height layers, improving accuracy for elevated obstacles or shelves.
- Configurable parameters including z_voxels, z_resolution, origin_z, and mark_threshold to tune reporting, memory usage, and sensitivity.
- Use cases: depth cameras or 3D lidar on robots requiring height-aware clearing, handling objects at different elevations, and verifying clearance with upper voxels in RViz.
Quick Start
Configure your local_costmap by enabling voxel_layer and set z_voxels, z_resolution, and origin_z to match your sensor setup.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: voxel-layer Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#voxel-layer Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
Agent Skills Search Helper
Install a tiny helper to your Agent, search and equip skill from 471,000+ vetted skills library on demand.