basic layers and normals computation

[giulioturrisi]

Hi, I have two questions regarding the concept of basic layers in the parameters.yaml file and the computation of the normals.

1. If there are multiple basic layers in the array, how are they taken into consideration by the different filters?

2. I have some problems when adding the layers "normal_x", "normal_y", and "normal_z". When enabling the normal publisher the output array is empty, probably because the condition "norm of the vector less than 0.1" is triggered. But i don't see any particular problem in the elevation layer from which they should be computed. Do you have any ideas on why this is happening?

An additional question regarding 2): is there a way to specify the normal computation from, for example, the "smooth" layer and not from the simple "elevation" layer?

Thank you in advance!

[mktk1117]

Basic layers are used for gridmap visualization. Please check the grid_map software. https://github.com/ANYbotics/grid_map

2. Did you enable the normal calcluation? can you see the normal layer as a color layer?

Calculating from different layer is indeed an interesting option. Currently we don't have that feature, but we'll consider adding that functionality.