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Add frontleft, frontright, left, and right pointclouds sources for navigation #8

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Add frontleft, frontright, left, and right pointclouds sources for navigation #8

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30 changes: 29 additions & 1 deletion spot_navigation/config/spot.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -261,14 +261,42 @@ spot_nav/local_costmap:
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: velodyne
observation_sources: velodyne frontleft frontright left right
velodyne:
topic: /velodyne_points
min_obstacle_height: 0.20
max_obstacle_height: 1.2
clearing: True
marking: True
data_type: "PointCloud2"
frontleft:
topic: /spot_pointclouds/frontleft_points
min_obstacle_height: 0.20
max_obstacle_height: 2.0
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@alexnavtt alexnavtt Apr 18, 2026

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Any particular reason to use 2.0 as the max height here instead of the 1.2 used for the lidar?

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@luisluna01 luisluna01 Apr 18, 2026

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I tested navigation with the point clouds active. However, at the time I made the change, the commit I was in had 2.0 as the max height used for the lidar. I'll make the change and test navigation again

clearing: True
marking: True
data_type: "PointCloud2"
frontright:
topic: /spot_pointclouds/frontright_points
min_obstacle_height: 0.20
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "PointCloud2"
left:
topic: /spot_pointclouds/left_points
min_obstacle_height: 0.20
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "PointCloud2"
right:
topic: /spot_pointclouds/right_points
min_obstacle_height: 0.20
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "PointCloud2"
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
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