question about create map for navigation

[polarbear]

Hi,
I wonder to use RTAB-Map in room with camera.
But when it created room`s map by making  3D point cloud  to 2D map,the ceiling and lamps become obstacles in map too.
Is there some parameter i can set in RTAB-Map to chose the height i want,and ignore the parts of point cloud higher than it?
other question is if i want to use 3D map that created by octomap for self-made mobile car`s navigation,what navigation package in ROS is suitable for this kind of map?
Thank you very much!

[matlabbe]

Hi,

You can use parameter "Grid/MaxObstacleHeight" (in meters). This assumes that the camera is fixed on the robot and the robot is moving on the ground (filtering is done in "frame_id" frame).

For UAV or hand-held mapping, the robot/camera must first be aligned to ground (you can use "Odom/AlignWithGround" for that if rgbd_odometry is used), then set also "Grid/MapFrameProjection" to true so that filtering is done in /map frame. This approach cannot handle 3D terrain or multi-floor.

For car navigation, I would try first the standard navigation stack of ROS using 2D occupancy grid map and possibly an ackermann planner. Another post here.

cheers,
Mathieu

[polarbear]

Thanks!!
It`s very helpful for me.