R200 detecting floor

[DorEdel]

Hi!

I'm using R200 with rtab-ros and i need to get the depth of the floor.
now, when I'm trying to get it I'm getting NaN values
how to change the configs in order to get the depth of the floor (it must be possible right?)

thank you
dor :)

[matlabbe]

Hi,

You can show up in RVIZ the point cloud generated by R200 and move it with different angles over the floor. You will see if the R200 can see it. If it does see the floor (e.g., too dark, too reflective...), I would refer you to r200 ros package to see if there are parameters that can help, for example that file seems to have a lot of parameters that can be tuned live with rqt_reconfigure: https://github.com/intel-ros/realsense/blob/indigo-devel/realsense_camera/cfg/r200_params.cfg

cheers