address review comments

Author: Schmluk

hydra_ros/include/hydra_ros/frontend/traversability_visualizer.h

@@ -48,21 +48,29 @@ namespace hydra {
 class TraversabilityVisualizer : public places::TraversabilityPlaceExtractor::Sink {
  public:
   struct Config {
+    //! Namespace to use for the visualizer node.
     std::string ns = "~/traversability";
+    //! Colormap to use for traversability values.
     visualizer::RangeColormap::Config traversability_colormap{
         createSpectrumColormap({spark_dsg::Color::red(),
                                 spark_dsg::Color::yellow(),
                                 spark_dsg::Color::green()})};
+    //! Colormap to use for confidence values.
     visualizer::RangeColormap::Config confidence_colormap{
         createSpectrumColormap({spark_dsg::Color::black(),
                                 spark_dsg::Color::blue(),
                                 spark_dsg::Color::cyan()})};
+    //! Colors to use for the different traversability states (unknown, traversable,
+    //! intraversable, traversed).
     std::vector<spark_dsg::Color> state_colors{spark_dsg::Color::black(),
                                                spark_dsg::Color::blue(),
                                                spark_dsg::Color::red(),
                                                spark_dsg::Color::green()};
-    float slice_height = 2.0f;  // Height of the slice to visualize in meteres.
-    bool use_relative_height = false;
+    //! Height where the slice is visualized [m].
+    float drawing_offset_z = 0.0f;
+    //! True: Use height relative to the robot, false: use absolute height.
+    bool use_relative_offset = true;
+    //! Alpha value to use for the voxel colors.
     double alpha = 0.3;
   };
 

hydra_ros/src/frontend/traversability_visualizer.cpp

@@ -60,8 +60,8 @@ void declare_config(TraversabilityVisualizer::Config& config) {
   field(config.traversability_colormap, "traversability_colormap");
   field(config.confidence_colormap, "confidence_colormap");
   field(config.state_colors, "state_colors");
-  field(config.slice_height, "slice_height", "m");
-  field(config.use_relative_height, "use_relative_height");
+  field(config.drawing_offset_z, "drawing_offset_z", "m");
+  field(config.use_relative_offset, "use_relative_offset");
   check(config.state_colors.size(), EQ, 4, "state_colors");
 }
 
@@ -128,8 +128,8 @@ void TraversabilityVisualizer::visualizeLayer(
   visualization_msgs::msg::Marker msg4 = msg;
   msg4.ns = "debug";
 
-  auto height = active_config_.slice_height;
-  if (active_config_.use_relative_height) {
+  auto height = active_config_.drawing_offset_z;
+  if (active_config_.use_relative_offset) {
     height += world_t_body.z();
   }
   geometry_msgs::msg::Point pos;