Fix flickering visualization

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:
 
   ============== =======

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