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nonpersistent_voxel_layer

  • Software
  • Navigation and mapping
  • Library

A ROS 2 costmap layer that works as a drop-in replacement for the voxel layer but does not keep sensor readings across update cycles. It suits sparse sensors such as sonar, radar or blob markers.

Source on GitHub: github.com/SteveMacenski/nonpersistent_voxel_layer (opens in a new tab). Facts read at commit 786ac48 (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 786ac48 (opens in a new tab), on 22 Oct 2026.

Commercial use
Yes

What it does

  • Acts as a rolling local costmap layer that does not persist readings from one iteration to the next.
  • Useful when ray tracing or map maintenance is undesirable, for example with a specific sensor.
  • Helps with sparse sensors like sonars, blob markers and radars that do not clear obstacles effectively.
  • Parameters match the voxel layer, except the clearing parameters; see the Voxel Layer API.
  • Configured as a plugin in the costmap parameters and listed in plugin_names, with an example config provided.
  • Installed on ROS 2 Eloquent via a Debian package from the ros-eloquent repository.

Written by Robotheca from the project's README (opens in a new tab) at commit 786ac48.

Getting started

Difficulty
Intermediate

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
5 Aug 2026 on ros2
Latest release
2.7.0 (5 Aug 2026)

Checked on GitHub on 22 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.