footprint_clearing_enabled for more (or all) layers

[tonynajjar]

Spinoff from #4271 (comment)

Feature request

Feature description

footprint_clearing_enabled is only a parameter of the obstacle layer. it's also in the voxel layer but doesn't seem to be used. I think it would make sense if this parameter was also implemented for the static layer. Going further, we can also argue for it to be at top-level costmap such that it applies to all layers/

Implementation considerations

[SteveMacenski]

it's also in the voxel layer but doesn't seem to be used

The voxel layer derives from the obstacle layer and they share the same updateFootprint function which uses the parameter, so the voxel layer should work :-) Do you see it not working or is that based on code review?

Since its a param, I have no issue with it being applied to the static layer as well! 😄

Please submit a PR and that should be easy to merge

[tonynajjar]

Do you see it not working or is that based on code review?

I'm wrong then, was purely code review (after I found 'clearing_layers' not used I assumed there is more 😬)

I have no issue with it being applied to the static layer as well

What do you think about a param to apply it to the whole costmap instead of by layer? I haven't checked if that's easily feasible but I assume so

[SteveMacenski]

I think we should leave it on a layer by layer basis for granularity of controls. I suppose we could offer both though like we have for some settings. That would be fine!