X-lanni
25 lines
1.0 KiB
Plaintext
25 lines
1.0 KiB
Plaintext
# Cleanup local grids service
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#
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# Clear empty space from local occupancy grids
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# (and laser scans) based on the current optimized global 2d grid map.
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# If the map needs to be regenerated in the future (e.g., when
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# we re-use the map in SLAM mode), removed obstacles won't reappear.
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# Use this with care and only when you know that the map doesn't have errors,
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# otherwise some real obstacles/walls may be cleared if there is too much
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# drift in the map.
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#
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# Radius in cells around empty cell without obstacles to clear underlying obstacles, default 1 cell if not set.
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int32 radius
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# Filter also the scans, default false if not set.
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# The filtered laser scans will be used for localization,
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# so if dynamic obstacles have been removed, localization won't try to
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# match them anymore. Filtering the laser scans cannot be reverted,
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# but grids can (see DatabaseViewer->Edit menu).
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bool filter_scans
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---
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# return the number of grids or scans modified, -1 if there is an error
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int32 modified
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