Proj_map min obstacles height

Posted by andreacelani on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Proj-map-min-obstacles-height-tp2866.html

Hi Mathieu,

Finally I put everything to work, from Intel R200 with Rtabmap to local and global costmap and Teb local planner. I'm testing the Robot in the field (agricultural purpose) and I'm stuck looking for a valid option to set a min obstacle height for proj_map (input of global costmap). Since I have obstacles like grass or small pieces of tree branch I would like to filter them out as I already did with local costmap. In local costmap I have the min height parameter of point_cloud_sensor but no equal parameter on proj_map/global map.
Do you have some suggestion about that? I would like to filter small objects out and keep ground visible.
I'm not using fake laser scan.
(I hear right know that proj_map and grid_map are deprecated on latest version, I'm using Ros Indigo).
Thank you.

Andrea