Re: Proj_map min obstacles height

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Proj-map-min-obstacles-height-tp2866p2875.html

Hi Andrea,

What you are looking for is this just that all points below a fixed height are ground? If so, it is possible with latest version (source or Kinetic) with

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
   <param name="Grid/MaxGroundHeight" type="string" value="0.2"/>       <!-- all points below 20 cm are ground -->
   <param name="Grid/MaxObstacleHeight" type="string" value="2"/>       <!-- all points above 20 cm and below 2 m are obstacles -->
   <param name="Grid/NormalsSegmentation" type="string" value="false"/> <!-- Use simple passthrough to filter the ground instead of normals segmentation -->
</node>

Indeed, in future /proj_map will be removed keeping only /grid_map. /grid_map depends now on "Grid/*" parameters. For example, depending on the value of "Grid/FromDepth", the /grid_map is created from laser scan if false or depth image like the old /proj_map if true.

cheers,
Mathieu