This is a drop in replacement for the voxel_grid voxel representation of the environment. This package does a number of things to improve on the voxel grid package and extend the capabilities offered ...

z_resolution: 0.05 z_voxels: 16 publish_voxel_map: true observation_sources: rgbd rgbd: data_type: PointCloud2 topic: camera/depth/points marking: true min_obstacle_height: 0.7 max_obstacle_height: ...