Self-Filter Robot with rtabmap_ros/obstacles_detection

[mjedmonds]

Hi,

I was wondering if the obstacles_detection nodelet supports self-filtering of the robot (e.g. the arms as they are moving around the camera. Looking at the nodelet, it doesn't appear to.

Or does anyone know a standard method/package to self-filter the robot?

Thanks!

[matlabbe]

You could try to filter the point cloud for minimum depth before obstacles_detection. If you are using point_cloud_xyz nodelet, there is the parameter "min_depth" that can be used for that. Otherwise, you could use a generic passthrough filter from pcl_ros.

cheers