Re: Using obstacles detection nodelet from camera node point cloud

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-obstacles-detection-nodelet-from-camera-node-point-cloud-tp1191p1197.html

Hi,

I tested obstacles_detection with your bag, and actually /ground_cloud and /obstacles_cloud are published, but at a very low rate (like 30 sec to process only one cloud).

To better test it, I put a VoxelFilter so that obstacles detection is done in ~20 ms:

<launch>

  <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />

  <!-- Run a VoxelGrid filter to clean NaNs and downsample the data -->
  <node pkg="nodelet" type="nodelet" name="voxel_grid" args="load pcl/VoxelGrid pcl_manager" output="screen">
    <remap from="~input" to="/camera/point_cloud/cloud" />
    <rosparam>
      filter_field_name: z
      filter_limit_min: -10
      filter_limit_max: 10
      filter_limit_negative: False
      leaf_size: 0.05
    </rosparam>
  </node>

  <node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection pcl_manager" output="screen">
      <remap from="cloud"     to="/voxel_grid/output"/>
      <remap from="obstacles" to="/obstacles_cloud"/>
      <remap from="ground"    to="/ground_cloud"/>

      <param name="frame_id"             type="string" value="base_link"/>		
      <param name="map_frame_id"         type="string" value="map"/>
      <param name="wait_for_transform"   type="bool" value="true"/>
      <param name="min_cluster_size"     type="int" value="20"/>
      <param name="max_obstacles_height" type="double" value="0.4"/>
  </node>  
</launch>

Output: