Add 3dlidar ground observation_source

params/costmap/common_params.yaml

@@ -22,7 +22,7 @@ obstacle_layer:
   max_obstacle_height: 1.0
   footprint_clearing_enabled: false
   combination_method: 1
-  observation_sources: velodyne #depth_cam
+  observation_sources: velodyne velodyne_ground #depth_cam
   
   velodyne:  {
     sensor_frame: helena/robosense,
@@ -37,6 +37,19 @@ obstacle_layer:
     obstacle_range: 30.0,
     raytrace_range: 40.0
   }
+  velodyne_ground:  {
+    sensor_frame: helena/robosense,
+    data_type: PointCloud2,
+    topic: /helena/sensors/rslidar_points,
+    observation_persistence: 0.0,
+    marking: false,
+    clearing: true,
+    min_obstacle_height: -1.0,
+    max_obstacle_height: 0.05,
+    expected_update_rate: 1,
+    obstacle_range: 30.0,
+    raytrace_range: 40.0
+  }
   
   depth_cam:  {
     sensor_frame: helena/camera_color_optical_frame,