Turn off human obstacles

crates/nodes/obstacle_filter/src/lib.rs

@@ -577,6 +577,10 @@ fn measured_pose_positions(
     camera_matrix: &CameraMatrix,
 ) -> impl Iterator<Item = (ObstacleKind, Point2<Ground>, na::Vector2<f32>)> {
     detected_poses.iter().filter_map(|detected_pose| {
+        if !parameters.use_detected_person_obstacles {
+            return None;
+        }
+
         let Object {
             label,
             bounding_box,

crates/types/src/parameters.rs

@@ -489,6 +489,7 @@ pub struct BallFilterParameters {
 )]
 pub struct ObstacleFilterParameters {
     pub use_detected_objects: bool,
+    pub use_detected_person_obstacles: bool,
     pub hypothesis_timeout: Duration,
     pub network_robot_measurement_matching_distance: f32,
     pub object_detection_measurement_matching_distance: f32,

etc/parameters/ros_z/base/obstacle_filter.json5

@@ -1,5 +1,6 @@
 {
   use_detected_objects: true,
+  use_detected_person_obstacles: false,
   hypothesis_timeout: {
     nanos: 500000000,
     secs: 0,