Changing voxel_layer of local_costmap to Lidar pointcloud2 doesn't work

[Bli9sta]

Please provide the following information:

• OS: (e.g. Ubuntu 24.04)
• ROS 2 Distro: (e.g. Jazzy)
• Built from source or installed: source (clearpath_nav2_demos), installed (nav2)
• Package version: commit 42d9fa6
• Real hardware or simulation: Real Hardware. We are using the Clearpath Husky A200

Expected behaviour
When changing topic of observation_sources from sensors/lidar3d_0/scan to sensors/lidar3d_0/points, the voxel layer in RVIZ should be present (RVIZ: Add->By topic -> /local_costmap -> /voxel_layer -> Map) and update itself on new Pointcloud data

Actual behaviour
The topic itself is present and can be selected in RVIZ. When selecting it to be displayed, the voxel_layer map stays blank. It can be noticed that the local_costmap itself is also not updating, i.e. when walking in front of the Lidar, the local costmap does not update. A screenshot of the situation in RVIZ is appended:

1. "Controller" checkbox checked:
   
2. "Controller" checkbox not checked:
   

For comparison, this is what it looks like with the default configuration (local_costmap using lidar3d_0/scan):

Now there are voxels within the boundaries of the local_costmap square. The costmap is also constantly updating. We already checked that the topic (sensors/lidar3d_0/points) actually sends data, which it does

To Reproduce
Provide the steps to reproduce:

1. Edit Nav2.yaml file
2. Build using colcon build
3. launch nav2.launch.pyros2 launch clearpath_nav2_demos nav2.launch.py use_sim_time:=false setup_path:=/path/to/setup
4. launch localization
   ros2 launch clearpath_nav2_demos localization.launch.py use_sim_time:=false setup_path:=/path/to/setup map:=/path/to/map
5. launch RVIZ
   ros2 launch clearpath_viz view_navigation.launch.py namespace:=a200_0000

Other notes
This is our Nav2.yaml file, where the local_costmap is defined (as txt because git doesnt support .yaml):

nav2.txt

[nvanheyst]

Clearpath only supports a single 2D LiDAR for the NAV2 Slam Toolbox demo currently.

I don't represent Clearpath support and I am not sure if you are still working on this, but noticed a few things that could be causing the issue. The most obvious thing is that point cloud you are using needs to listed in the observation source line. For example

observation_sources: scan lidar3d

More info:
https://docs.nav2.org/configuration/packages/configuring-costmaps.html#example

[civerachb-cpr]

The demos as-written are intended to be used with a 2D lidar. The following changes appear to work for a 3D lidar in simulation if you want to try them out:

1. Modify nav2.launch.py:

import os

from ament_index_python.packages import get_package_share_directory

from clearpath_config.clearpath_config import ClearpathConfig
from clearpath_config.common.utils.yaml import read_yaml

from launch import LaunchDescription
from launch.actions import (
    DeclareLaunchArgument,
    GroupAction,
    IncludeLaunchDescription,
    OpaqueFunction
)
from launch.launch_description_sources import PythonLaunchDescriptionSource

from launch.substitutions import (
    LaunchConfiguration,
    PathJoinSubstitution
)

from launch_ros.actions import PushRosNamespace, SetRemap

from nav2_common.launch import RewrittenYaml


ARGUMENTS = [
    DeclareLaunchArgument('use_sim_time', default_value='false',
                          choices=['true', 'false'],
                          description='Use sim time'),
    DeclareLaunchArgument('setup_path',
                          default_value='/etc/clearpath/',
                          description='Clearpath setup path'),
    DeclareLaunchArgument('scan_topic',
                          default_value='',
                          description='Override the default 2D laserscan topic'),
    DeclareLaunchArgument('pointcloud_topic',
                          default_value='',
                          description='Override the default 3D pointcloud topic'),
]


def launch_setup(context, *args, **kwargs):
    # Packages
    pkg_clearpath_nav2_demos = get_package_share_directory('clearpath_nav2_demos')
    pkg_nav2_bringup = get_package_share_directory('nav2_bringup')

    # Launch Configurations
    use_sim_time = LaunchConfiguration('use_sim_time')
    setup_path = LaunchConfiguration('setup_path')
    scan_topic = LaunchConfiguration('scan_topic')
    points_topic = LaunchConfiguration('pointcloud_topic')

    # Read robot YAML
    config = read_yaml(os.path.join(setup_path.perform(context), 'robot.yaml'))
    # Parse robot YAML into config
    clearpath_config = ClearpathConfig(config)

    namespace = clearpath_config.system.namespace
    platform_model = clearpath_config.platform.get_platform_model()

    # see if we've overridden the sensor topics
    eval_scan_topic = scan_topic.perform(context)
    if len(eval_scan_topic) == 0:
        eval_scan_topic = f'/{namespace}/sensors/lidar3d_0/scan'
    eval_points_topic = points_topic.perform(context)
    if len(eval_points_topic) == 0:
        eval_points_topic = f'/{namespace}/sensors/lidar3d_0/points'

    file_parameters = PathJoinSubstitution([
        pkg_clearpath_nav2_demos,
        'config',
        platform_model,
        'nav2.yaml'])

    rewritten_parameters = RewrittenYaml(
        source_file=file_parameters,
        param_rewrites={
            'scan_topic': eval_scan_topic,
            'points_topic': eval_points_topic,
        },
        key_rewrites={
            'scan_topic': 'topic',
            'points_topic': 'topic',
        },
        convert_types=True
    )

    launch_nav2 = PathJoinSubstitution(
      [pkg_nav2_bringup, 'launch', 'navigation_launch.py'])

    nav2 = GroupAction([
        PushRosNamespace(namespace),
        SetRemap('/' + namespace + '/odom',
                 '/' + namespace + '/platform/odom'),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(launch_nav2),
            launch_arguments=[
                ('use_sim_time', use_sim_time),
                ('params_file', rewritten_parameters),
                ('use_composition', 'False'),
                ('namespace', namespace)
            ]
        ),
    ])

    return [nav2]


def generate_launch_description():
    ld = LaunchDescription(ARGUMENTS)
    ld.add_action(OpaqueFunction(function=launch_setup))
    return ld

2. Modify nav2.yaml:

bt_navigator:
  ros__parameters:
    enable_stamped_cmd_vel: true
    global_frame: map
    robot_base_frame: base_link
    odom_topic: platform/odom/filtered
    bt_loop_duration: 10
    default_server_timeout: 20
    wait_for_service_timeout: 1000
    action_server_result_timeout: 900.0
    navigators: ["navigate_to_pose", "navigate_through_poses"]
    navigate_to_pose:
      plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
    navigate_through_poses:
      plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
    error_code_names:
      - compute_path_error_code
      - follow_path_error_code

controller_server:
  ros__parameters:
    enable_stamped_cmd_vel: true
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    failure_tolerance: 0.3
    progress_checker_plugins: ["progress_checker"]
    goal_checker_plugins: ["general_goal_checker"]
    controller_plugins: ["FollowPath"]
    use_realtime_priority: false
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    general_goal_checker:
      stateful: true
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
    FollowPath:
      plugin: "nav2_mppi_controller::MPPIController"
      time_steps: 56
      model_dt: 0.05
      batch_size: 2000
      ax_max: 3.0
      ax_min: -3.0
      ay_max: 3.0
      az_max: 3.5
      vx_std: 0.2
      vy_std: 0.2
      wz_std: 0.4
      vx_max: 0.5
      vx_min: -0.35
      vy_max: 0.5
      wz_max: 1.9
      iteration_count: 1
      prune_distance: 1.7
      transform_tolerance: 0.1
      temperature: 0.3
      gamma: 0.015
      motion_model: "DiffDrive"
      visualize: true
      regenerate_noises: true
      TrajectoryVisualizer:
        trajectory_step: 5
        time_step: 3
      AckermannConstraints:
        min_turning_r: 0.2
      critics: [
        "ConstraintCritic", "CostCritic", "GoalCritic",
        "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic",
        "PathAngleCritic", "PreferForwardCritic"]
      ConstraintCritic:
        enabled: true
        cost_power: 1
        cost_weight: 4.0
      GoalCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        threshold_to_consider: 1.4
      GoalAngleCritic:
        enabled: true
        cost_power: 1
        cost_weight: 3.0
        threshold_to_consider: 0.5
      PreferForwardCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        threshold_to_consider: 0.5
      CostCritic:
        enabled: true
        cost_power: 1
        cost_weight: 3.81
        critical_cost: 300.0
        consider_footprint: true
        collision_cost: 1000000.0
        near_goal_distance: 1.0
        trajectory_point_step: 2
      PathAlignCritic:
        enabled: true
        cost_power: 1
        cost_weight: 14.0
        max_path_occupancy_ratio: 0.05
        trajectory_point_step: 4
        threshold_to_consider: 0.5
        offset_from_furthest: 20
        use_path_orientations: false
      PathFollowCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        offset_from_furthest: 5
        threshold_to_consider: 1.4
      PathAngleCritic:
        enabled: true
        cost_power: 1
        cost_weight: 2.0
        offset_from_furthest: 4
        threshold_to_consider: 0.5
        max_angle_to_furthest: 1.0
        mode: 0

local_costmap:
  local_costmap:
    ros__parameters:
      enable_stamped_cmd_vel: true
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_link
      rolling_window: true
      width: 5
      height: 5
      resolution: 0.06
      footprint: "[ [0.495, 0.349], [0.495, -0.349], [-0.495, -0.349], [-0.495, 0.349] ]"
      always_send_full_costmap: true
      plugins: ["static_layer", "voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 4.0
        inflation_radius: 0.8
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: true
        publish_voxel_map: true
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: scan
        scan:
          scan_topic: sensors/lidar2d_0/scan
          max_obstacle_height: 2.0
          clearing: true
          marking: true
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: true

global_costmap:
  global_costmap:
    ros__parameters:
      enable_stamped_cmd_vel: true
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      footprint: "[ [0.495, 0.349], [0.495, -0.349], [-0.495, -0.349], [-0.495, 0.349] ]"
      resolution: 0.06
      track_unknown_space: true
      always_send_full_costmap: true
      plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: true
        observation_sources: scan
        scan:
          scan_topic: sensors/lidar3d_0/scan
          max_obstacle_height: 2.0
          clearing: true
          marking: true
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: true
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        footprint_clearing_enabled: true
        max_obstacle_height: 2.0
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        unknown_threshold: 15
        mark_threshold: 0
        observation_sources: pointcloud
        combination_method: 1
        pointcloud:  # no frame set, uses frame from message
          points_topic: sensors/lidar3d_0/points
          max_obstacle_height: 2.0
          min_obstacle_height: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          clearing: True
          marking: True
          data_type: "PointCloud2"
          transport_type: "raw"  # raw or/ with compression (zlib, draco, zstd)
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 4.0
        inflation_radius: 0.8

planner_server:
  ros__parameters:
    enable_stamped_cmd_vel: true
    # expected_planner_frequency: 20.0
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner::NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

smoother_server:
  ros__parameters:
    enable_stamped_cmd_vel: true
    smoother_plugins: ["simple_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      max_its: 1000
      do_refinement: true

behavior_server:
  ros__parameters:
    enable_stamped_cmd_vel: true
    local_costmap_topic: local_costmap/costmap_raw
    global_costmap_topic: global_costmap/costmap_raw
    local_footprint_topic: local_costmap/published_footprint
    global_footprint_topic: global_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
    spin:
      plugin: "nav2_behaviors::Spin"
    backup:
      plugin: "nav2_behaviors::BackUp"
    drive_on_heading:
      plugin: "nav2_behaviors::DriveOnHeading"
    wait:
      plugin: "nav2_behaviors::Wait"
    assisted_teleop:
      plugin: "nav2_behaviors::AssistedTeleop"
    global_frame: map
    local_frame: odom
    robot_base_frame: base_link
    transform_tolerance: 0.1
    enable_stamped_cmd_vel: true
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.2
    rotational_acc_lim: 0.5

waypoint_follower:
  ros__parameters:
    enable_stamped_cmd_vel: true
    loop_rate: 20
    stop_on_failure: false
    action_server_result_timeout: 900.0
    waypoint_task_executor_plugin: "wait_at_waypoint"
    wait_at_waypoint:
      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
      enabled: true
      waypoint_pause_duration: 200

velocity_smoother:
  ros__parameters:
    enable_stamped_cmd_vel: true
    smoothing_frequency: 20.0
    scale_velocities: False
    feedback: "OPEN_LOOP"
    max_velocity: [2.0, 0.0, 2.0]
    min_velocity: [-2.0, 0.0, -2.0]
    max_accel: [4.0, 0.0, 4.0]
    max_decel: [-4.0, 0.0, -4.0]
    odom_topic: "platform/odom/filtered"
    odom_duration: 0.1
    deadband_velocity: [0.0, 0.0, 0.0]
    velocity_timeout: 1.0

collision_monitor:
  ros__parameters:
    enable_stamped_cmd_vel: true
    base_frame_id: "base_link"
    odom_frame_id: "odom"
    cmd_vel_in_topic: "cmd_vel_smoothed"
    cmd_vel_out_topic: "cmd_vel"
    state_topic: "collision_monitor_state"
    transform_tolerance: 0.2
    source_timeout: 1.0
    base_shift_correction: True
    stop_pub_timeout: 2.0
    # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types,
    # and robot footprint for "approach" action type.
    polygons: ["FootprintApproach"]
    FootprintApproach:
      type: "polygon"
      action_type: "approach"
      footprint_topic: "local_costmap/published_footprint"
      time_before_collision: 1.2
      simulation_time_step: 0.1
      min_points: 6
      visualize: False
      enabled: True
    observation_sources: ["scan"]
    scan:
      type: "scan"
      scan_topic: "sensors/lidar2d_0/scan"
      min_height: 0.15
      max_height: 2.0
      enabled: True

docking_server:
  ros__parameters:
    enable_stamped_cmd_vel: true
    controller_frequency: 50.0
    initial_perception_timeout: 5.0
    wait_charge_timeout: 5.0
    dock_approach_timeout: 30.0
    undock_linear_tolerance: 0.05
    undock_angular_tolerance: 0.1
    max_retries: 3
    base_frame: "base_link"
    fixed_frame: "odom"
    dock_backwards: false
    dock_prestaging_tolerance: 0.5

    # Types of docks
    dock_plugins: ['simple_charging_dock']
    simple_charging_dock:
      plugin: 'opennav_docking::SimpleChargingDock'
      docking_threshold: 0.05
      staging_x_offset: -0.7
      use_external_detection_pose: true
      use_battery_status: false # true
      use_stall_detection: false # true

      external_detection_timeout: 1.0
      external_detection_translation_x: -0.18
      external_detection_translation_y: 0.0
      external_detection_rotation_roll: -1.57
      external_detection_rotation_pitch: -1.57
      external_detection_rotation_yaw: 0.0
      filter_coef: 0.1

    # Dock instances
    # The following example illustrates configuring dock instances.
    # docks: ['home_dock']  # Input your docks here
    # home_dock:
    #   type: 'simple_charging_dock'
    #   frame: map
    #   pose: [0.0, 0.0, 0.0]

    controller:
      k_phi: 3.0
      k_delta: 2.0
      v_linear_min: 0.15
      v_linear_max: 0.15

3. Modify localization.launch.py to allow modifying the scan topic:

import os

from ament_index_python.packages import get_package_share_directory

from clearpath_config.clearpath_config import ClearpathConfig
from clearpath_config.common.utils.yaml import read_yaml

from launch import LaunchDescription
from launch.actions import (
    DeclareLaunchArgument,
    GroupAction,
    IncludeLaunchDescription,
    OpaqueFunction
)
from launch.launch_description_sources import PythonLaunchDescriptionSource

from launch.substitutions import (
    LaunchConfiguration,
    PathJoinSubstitution
)

from launch_ros.actions import PushRosNamespace

from nav2_common.launch import RewrittenYaml


ARGUMENTS = [
    DeclareLaunchArgument('use_sim_time', default_value='false',
                          choices=['true', 'false'],
                          description='Use sim time'),
    DeclareLaunchArgument('setup_path',
                          default_value='/etc/clearpath/',
                          description='Clearpath setup path'),
    DeclareLaunchArgument('scan_topic',
                          default_value='',
                          description='Override the default 2D laserscan topic')
]


def launch_setup(context, *args, **kwargs):
    # Packages
    pkg_clearpath_nav2_demos = get_package_share_directory('clearpath_nav2_demos')
    pkg_nav2_bringup = get_package_share_directory('nav2_bringup')

    # Launch Configurations
    use_sim_time = LaunchConfiguration('use_sim_time')
    setup_path = LaunchConfiguration('setup_path')
    map = LaunchConfiguration('map')  # noqa:A001
    scan_topic = LaunchConfiguration('scan_topic')

    # Read robot YAML
    config = read_yaml(os.path.join(setup_path.perform(context), 'robot.yaml'))
    # Parse robot YAML into config
    clearpath_config = ClearpathConfig(config)

    namespace = clearpath_config.system.namespace
    platform_model = clearpath_config.platform.get_platform_model()

    eval_scan_topic = scan_topic.perform(context)
    if len(eval_scan_topic) == 0:
        eval_scan_topic = f'/{namespace}/sensors/lidar2d_0/scan'

    file_parameters = PathJoinSubstitution([
        pkg_clearpath_nav2_demos,
        'config',
        platform_model,
        'localization.yaml'])

    rewritten_parameters = RewrittenYaml(
        source_file=file_parameters,
        param_rewrites={
            'scan_topic': eval_scan_topic,
        },
        convert_types=True
    )

    launch_localization = PathJoinSubstitution(
      [pkg_nav2_bringup, 'launch', 'localization_launch.py'])

    localization = GroupAction([
        PushRosNamespace(namespace),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(launch_localization),
            launch_arguments=[
                ('namespace', namespace),
                ('map', map),
                ('use_sim_time', use_sim_time),
                ('params_file', rewritten_parameters)
              ]
        ),
    ])

    return [localization]


def generate_launch_description():
    pkg_clearpath_nav2_demos = get_package_share_directory('clearpath_nav2_demos')

    map_arg = DeclareLaunchArgument(
        'map',
        default_value=PathJoinSubstitution([pkg_clearpath_nav2_demos, 'maps', 'warehouse.yaml']),
        description='Full path to map yaml file to load')

    ld = LaunchDescription(ARGUMENTS)
    ld.add_action(map_arg)
    ld.add_action(OpaqueFunction(function=launch_setup))
    return ld

4. Build your workspace, source it, and run the launch files, using the new scan_topic launch argument to point to your 3D lidar's scan topic (depending on your specific lidar you may need to start an additional node or edit a parameter to enable this; the VLP-16 automatically publishes a 2D laserscan topic).

The above files are based on the a300 versions from the jazzy branch.