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 
yep - sorry about that - also I misspelled whether :)


On Sun, Aug 24, 2014 at 9:36 PM, Kaijen Hsiao <notifications@github.com>
wrote:

> In costmap_2d/cfg/VoxelPlugin.cfg:
>
> > @@ -5,6 +5,7 @@ from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, b
> >  gen = ParameterGenerator()
> >
> >  gen.add("enabled", bool_t, 0, "Whether to use this plugin or not", True)
> > +gen.add("check_other_topics_before_clearing", bool_t, 0, "To check weather other topics before clearing obstacles that time out ", False)
>
> I think you meant "Whether to check other topics before clearing obstacles
> that time out." As it is, that's a pretty confusing description.
>
> —
> Reply to this email directly or view it on GitHub
> <https://github.com/bosch-ros-pkg/navigation/pull/18/files#r16641871>.
>