Fix flickering visualization (ros-navigation#578)

* Added Documentation for fix flickering visualization Signed-off-by: Vladyslav Hrynchak <[email protected]> * Fix documentation Signed-off-by: Vladyslav Hrynchak <[email protected]> * Updated documentation Signed-off-by: Vladyslav Hrynchak <[email protected]> --------- Signed-off-by: Vladyslav Hrynchak <[email protected]> Signed-off-by: Rob Fisher <[email protected]>
robbiefish · Nov 14, 2024 · dd4cee6 · dd4cee6
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diff --git a/configuration/packages/configuring-costmaps.rst b/configuration/packages/configuring-costmaps.rst
@@ -101,6 +101,17 @@ Costmap2D ROS Parameters
   Description
     Topic of map from map_server or SLAM.
 
+:map_vis_z:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  double         0.0   
+  ============== =======
+
+  Description
+    The height of map, allows to avoid rviz visualization flickering at -0.008
+
 :observation_sources:
 
   ============== =======

diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst
@@ -46,4 +46,25 @@ Working demo of the tool:
 
 .. image:: images/rviz_costmap_cost_tool.gif
 
-.. attention:: If the costmap service is unavailable, then the tool will not be able to fetch and display the cost values.
+.. attention:: If the costmap service is unavailable, then the tool will not be able to fetch and display the cost values.
+
+Fix flickering visualization
+****************************
+
+In `PR #4561 <https://github.com/ros-navigation/navigation2/pull/4561>`_ a ``map_vis_z`` parameter has been introduced to Costmap2DROS to help modify the map slightly below the default plane, aiming to eliminate rviz visualization flickering issues.
+
+Default Value:
+
+- map_vis_z: 0.0
+
+Minimum Value Without Flickering:
+
+- map_vis_z: -0.008
+
+Before:
+
+.. image:: images/fix_flickering_visualization_before.png
+
+After:
+
+.. image:: images/fix_flickering_visualization_after.png
diff --git a/migration/images/fix_flickering_visualization_after.png b/migration/images/fix_flickering_visualization_after.png
diff --git a/migration/images/fix_flickering_visualization_before.png b/migration/images/fix_flickering_visualization_before.png