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for processing incomming data e.g. PointClouds
synchronization.
It is enough to only check the two faces current_vh and nh have in common. This greatly reduces the number of faces checked for each neighbor vertex.
… change a layer should be from the layer itself
The dynamic inflation layer was used for protoyping performance improvements. These improvements were now applied to the InflationLayer so this layer is no longer needed.
We do not want to normalize the combined costs because this creates the need to recompute/renormalize all costs when the cost range changes due to a local update.
const references instead of mutable references
Graph-Based Layer System for Dynamic Cost Updates
This layer maps obstacles represented by PointCloud2 messages onto the mesh surface using raycasting. The vertices of the obstructed faces are added to the lethal vertex set and their cost is set to infinity. This enables replanning around dynamic and unmapped obstacles and dynamic obstacle avoidance (support depends on the controller plugin).
… acceleration datastructure instance.
rqt_reconfigure was unable to fetch the parameters when the cost was set to inf. Since we want to allow setting the cost values to inf and the range was only there to allow rqt_reconfigure to show a slider (which did not work with inf) we decided to remove the range.
JustusBraun
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Sep 10, 2025
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This is a big step towards enabling dynamic obstacle avoidance and replanning (see #5). I have tested this branch and it works with ROS Jazzy on Ubuntu 24.04.
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Introducing:
Minor Things:
In total, both library interfaces and user interfaces are not backwards compatible therefore we increased the major version to 3.