Release 3.2 custom - Static ESDF moved with base_link z-height#145
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KasperMollerHansen wants to merge 25 commits into
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Release 3.2 custom - Static ESDF moved with base_link z-height#145KasperMollerHansen wants to merge 25 commits into
KasperMollerHansen wants to merge 25 commits into
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…-3.2 Isaac ROS 3.2
…-3.2 Update package versions
…-3.2 Isaac 3.2 Update 5
Release 3.2 custom
KasperMollerHansen
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add dynamic th for esdf
update gitmodules nvblox
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I have implemented a dynamically changing height for the 2D ESDF slice. This allows operation along the z-axis while maintaining a slice of the ESDF spanning from the minimum to the maximum height.
I use this for drone navigation, providing a pessimistic slice of the environment within ±z meters around the base_link frame.
Although there is likely room for optimization, this is a valuable feature, especially when the 3D ESDF is not readily available.