Mobile Robot with Z2i Camera, Table Surface Not Detected as Obstacle in RTAB-Map

[Hamdi Sharaf]

Hi Rtab-Map community,
I'm working with an autonomous mobile robot equipped with a Z2i camera. I'm using RTAB-Map to build a map of the environment. However, the robot is not detecting the surface of a table as an obstacle during the mapping process. It is important for my autonomous task to detect it as obstacle. I thoghut  that happening cause hardware issue, but when i tested it in gazebo it gives the same result.

[matlabbe]

Hi,
Try setting Grid/MaxGroundHeight to maximum expected height for the ground. All planes over that threshold will be labelled as obstacle instead of ground. You may also use Grid/NormalsSegmentation=false if the ground is flat.

cheers,
Mathieu

[Hamdi Sharaf]

Yah, now robot is detecting it as obstacle. Thanks alot

[Hamdi Sharaf]