grid_map_topic: /grid_map_tutorial_demo/grid_map

grid_map_visualizations:

  - name: elevation_points
    type: point_cloud
    params:
      layer: elevation

  - name: noisy_points
    type: point_cloud
    params:
      layer: elevation_noisy

  - name: filtered_points
    type: point_cloud
    params:
      layer: elevation_filtered

  - name: map_region
    type: map_region
    params:
      color: 3289650
      line_width: 0.003

  - name: elevation_grid
    type: occupancy_grid
    params:
      layer: elevation
      data_min: 0.08
      data_max: -0.16

  - name: error_grid
    type: occupancy_grid
    params:
      layer: error
      data_min: -0.15
      data_max: 0.15

  - name: surface_normals
    type: vectors
    params:
      layer_prefix: normal_
      position_layer: elevation
      scale: 0.06
      line_width: 0.005
      color: 15600153 # red

  - name: elevation_cells
    type: grid_cells
    params:
      layer: elevation
      lower_threshold: -0.08
      upper_threshold: 0.0