### Install Spatio-Temporal Voxel Layer from Source

Source: https://github.com/stevemacenski/spatio_temporal_voxel_layer/blob/ros2/README.md

Installs the spatio-temporal-voxel-layer from source. Requires ROS Kinetic, navigation, OpenVDB, and TBB. Run rosdep to install dependencies.

```bash
sudo rosdep init && rosdep update && rosdep install --from-paths src --ignore-src -r -y
```

--------------------------------

### Install Spatio-Temporal Voxel Layer (ROS Kinetic)

Source: https://github.com/stevemacenski/spatio_temporal_voxel_layer/blob/ros2/README.md

Installs the spatio-temporal-voxel-layer package using apt-get for ROS Kinetic. Ensure your ROS environment is set up.

```bash
sudo apt-get install ros-kinetic-spatio-temporal-voxel-layer
```

--------------------------------

### Launch Move Base

Source: https://github.com/stevemacenski/spatio_temporal_voxel_layer/blob/ros2/README.md

Starts the ROS move_base node, which utilizes the configured costmaps and navigation layers.

```bash
roslaunch [navigation_pkg] move_base.launch
```

--------------------------------

### Add Spatio-Temporal Voxel Layer Plugin to Costmap

Source: https://github.com/stevemacenski/spatio_temporal_voxel_layer/blob/ros2/README.md

Integrates the Spatio-Temporal Voxel Layer plugin into your ROS costmap configuration. Ensure the 'name' and 'type' fields match your setup.

```yaml
- {name: rgbd_obstacle_layer,     type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"}
```

--------------------------------

### Configure Spatio-Temporal Voxel Layer

Source: https://github.com/stevemacenski/spatio_temporal_voxel_layer/blob/ros2/README.md

Defines parameters for the RGB-D obstacle layer, including voxel settings, observation sources, and filtering options. Use the 'voxel' filter for potential CPU overhead reduction, or 'passthrough' for height-based filtering. No filter is an option if data is pre-processed.

```yaml
rgbd_obstacle_layer:
  enabled:               true
  voxel_decay:           20     #seconds if linear, e^n if exponential
  decay_model:           0      #0=linear, 1=exponential, 2=persistent
  voxel_size:            0.05   #meters
  track_unknown_space:   true   #default space is unknown
  observation_persistence: 0.0  #seconds
  max_obstacle_height:   2.0    #meters
  mark_threshold:        0      #voxel height
  update_footprint_enabled: true
  combination_method:    1      #1=max, 0=override
  obstacle_range:        3.0    #meters
  origin_z:              0.0    #meters
  publish_voxel_map:     true   # default off
  transform_tolerance:   0.2    # seconds
  mapping_mode:          false  # default off, saves map not for navigation
  map_save_duration:     60     #default 60s, how often to autosave
  observation_sources:   rgbd1_clear rgbd1_mark
  rgbd1_mark:
    data_type: PointCloud2
    topic: camera1/depth/points
    transport_type: "raw"        #default raw -No compression-, Options: zlib, draco, zstd
    marking: true
    clearing: false
    min_obstacle_height: 0.3     #default 0, meters
    max_obstacle_height: 2.0     #defaule 3, meters
    expected_update_rate: 0.0    #default 0, if not updating at this rate at least, remove from buffer
    observation_persistence: 0.0 #default 0, use all measurements taken during now-value, 0=latest 
    inf_is_valid: false          #default false, for laser scans
    clear_after_reading: true    #default false, clear the buffer after the layer gets readings from it
    filter: "voxel"              #default passthrough, apply "voxel", "passthrough", or no filter to sensor data, recommended to have at one filter on
    voxel_min_points: 0          #default 0, minimum points per voxel for voxel filter
  rgbd1_clear:
    enabled: true                #default true, can be toggled on/off with associated service call
    data_type: PointCloud2
    topic: camera1/depth/points
    transport_type: "raw"        #default raw -No compression-, Options: zlib, draco, zstd
    marking: false
    clearing: true
    min_z: 0.1                   #default 0, meters
    max_z: 7.0                   #default 10, meters
    vertical_fov_angle: 0.7      #default 0.7, radians
    vertical_fov_offset: 0.0     # default 0, radians. 3D Lidar only. Offset from planar axis. f.e. MID360 has a vFOV of -7deg to 52deg => offset +22.5deg (0.3927 rad)
    horizontal_fov_angle: 1.04   #default 1.04, radians
    decay_acceleration: 1.       #default 0, 1/s^2. If laser scanner MUST be 0
    model_type: 0                #default 0 (depth camera). Use 1 for 3D Lidar

```

--------------------------------

### Toggle Observation Source Real-time

Source: https://github.com/stevemacenski/spatio_temporal_voxel_layer/blob/ros2/README.md

Enables or disables specific observation sources for the RGB-D obstacle layer using a ROS service. This allows dynamic control over sensor data processing during runtime.

```bash
rosservice call /move_base/global_costmap/rgbd_obstacle_layer/rgbd_back/toggle_enabled "data: true"
```

```bash
rosservice call /move_base/local_costmap/rgbd_obstacle_layer/rgbd_back/toggle_enabled "data: false"
```

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