Re: Demo RTAB-Map on Turtlebot

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Demo-RTAB-Map-on-Turtlebot-tp439p1855.html

Hi,

You can set a maximum height of the projected cloud so that the robot can pass under the table while avoiding the table legs.

(v0.11.8)
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
   <param name="proj_max_obstacles_height" type="double" value="1.0"/> <!-- 1 meter max -->
</<node>

(v0.11.10)
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
   <param name="Grid/MaxObstacleHeight" type="string" value="1.0"/> <!-- 1 meter max -->
</<node>

cheers