Port voxel layer in nav2_costmap_2d

[bpwilcox]

The voxel layer plugin remains to be ported to ROS2 in the costmap_2d package. The package currently compiles without including this layer. This layer derives from the obstacle layer #192 (which as of this issue is not yet ported), so those dependencies would need to be resolved first.

[prasenjitdan]

Hi @bpwilcox, In addition to our communication on https://discourse.ros.org/t/voxel-grid-porting-to-ros2/6581, I'm posting here as well. We are happy to help you in porting voxel-grid, so please let me know, if you will be willing to obtain our assistance, and if so, what precisely you would be willing us to take up.

[crdelsey]

There's a voxel_grid package that is part of the ROS 1 navstack. I ported that over to ROS 2 before we started working in the public github repo. I'm assuming it is a dependency to getting the costmap layer working.

If you do in fact need it, let me know and I'll bring it over to this repo. It probably needs some updating to follow our current conventions.

[SteveMacenski]

You'll need 3 things

• my PR (giving the observation buffer) and temp por for tf2_sensor_msgs Port costmap2d buffer + tf_sensor_msgs local port  #231
• Obstacle layer (which the voxel layer derives from)
• and Voxel_Grid (seems you have done)

[bpwilcox]

@prasenjitdan If you're able to coordinate with @SteveMacenski who is working on the obstacle layer, then we'd be glad to accept your contribution on porting the voxel layer plugin.

[SteveMacenski]

I posted on the obstacle layer ticket (#192) the branch and status. I'm more than happy to let @prasenjitdan finish the port - it consists of dealing with the parameter while loop semantics and searchign for parameters. I don't know that I'll have the bandwidth to finish that one up anytime soon.

Huge plus is that voxel layer is very simple after obstacle layer is done - since all that hard stuff is done via the obstacle layer

[prasenjitdan]

@SteveMacenski and @bpwilcox,

At this time, Team is working on 6 packages that we are porting and testing. We have also lined up the next 6 packages for next batch. I can include Voxel Layer replacing one of the identified packages as priorities. I have been given 42 packages to start with, where Obstacle Layer is not part of it. I'm going to check internally and externally to see if we can include " Obstacle Layer". I'll keep you posted.

[bpwilcox]

@prasenjitdan Since I am going to commit to finishing the obstacle layer port myself, I could continue to do the voxel layer as well, unless you can commit to the port with a timeline in mind for us.

[prasenjitdan]

@bpwilcox, Team is still working on the previous set of packages that includes pcl-ros/perception, xacro, diagnostics-updater/aggregator, libccd, etc. Though we really wanted to extend support in porting obstacle layer and Voxel layer, it will happen only after previous packages are completely ported/tested in ROS2. I really appreciate your initiative on porting Obstacle Layer, and considering porting Voxel layer as well. If you have time, please go ahead with your plan on porting Voxel Layer as well.

[bpwilcox]

Resolved with #322