Avoidance / local planner and vehicle height


I am testing the avoidance node in gazebo and have everything running fine. However, i noticed that the drone goes up very high between 2D navigation goals. Is there a way to limit the height of the drone?

Also, is it possible to specify 3D navigation points in local frame? (right now I’m just setting points in rvis or publishing waypoints using

rostopic pub /move_base_simple/goal

but the Z value is ignored.