Global layer timeout topic with height

Updated the obstacle timeout so that you can specify to clear old obstacles based on the topic

Enable this by setting the following for each sensor for which you require the obstacles to timeout (this only works for global maps) 
e.g.
bump: { clear_old: true, max_obstacle_persistance: 3.0}

Time is in seconds.

Option to enable height checking before clearing obstacle

set check_height_before_clearing : true in the voxel layer 
The method is a copy from the obstacle_layer (which is the super class of
the voxel_buffer)

The only change I made was to pass over the topic of the observation (so
that I can separate the observations based on the ones that timeout). Not
any other logic.

Looks like the current flag is set to true if all the observations are
current.


On Fri, Aug 22, 2014 at 9:28 PM, Dejan Pangercic <notifications@github.com>
wrote:

> In costmap_2d/plugins/voxel_layer.cpp:
>
> > +  //get the marking observations
> > +  for (unsigned int i = 0; i < marking_buffers_.size(); ++i)
> > +  {
> > +    marking_buffers_[i]->lock();
> > +    ObservationSet obs(marking_buffers_[i]->getTopic());
> > +    marking_buffers_[i]->getObservations(obs.marking_observations);//marking_observations);
> > +    current = marking_buffers_[i]->isCurrent() && current;
> > +    observations_set.push_back(obs);
> > +    marking_buffers_[i]->unlock();
> > +  }
> > +
> > +  //what the heck is the static marking observations??
> > +  ObservationSet obs("static");
> > +  obs.marking_observations.insert(obs.marking_observations.end(), static_marking_observations_.begin(), static_marking_observations_.end());
> > +  observations_set.push_back(obs);
> > +  return current;
>
> can you explain to me what is all this "bool current" business about?
>
> —
> Reply to this email directly or view it on GitHub
> <https://github.com/bosch-ros-pkg/navigation/pull/18/files#r16628703>.
>