Hi,

I figured I'd ask and see if there was interest in something like this. In order to help remove salt and pepper noise from images, typically you might use dilation and erosion. The same concept could apply to navigation2 costmap layers, where an erroneous voxel layer or obstacle layer measurement (or static layer with SLAM session and things moving around) would make in the middle of free s

Brief feature description

The current posix wrapper are tested in a way that only the wrapper itself is used and tested with itself. If possible, we should call the posix calls directly in one part of a tests and verify that the posixWrapper behaves as intended when it works on the structure.

Detailed information