Re: Does obstacles_detection nodelet assume that the sensor is level?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Does-obstacles-detection-nodelet-assume-that-the-sensor-is-level-tp3485p3489.html

frame_id is set to base_footprint. Odometry is linked to tango device, not base_footprint. Make sure the transform device -> base_footprint represents the plsition/orientation of the sensor. In that configuration, you cannot move/rotate the position of tango against the robot base as the transform is fixed.

For the height cutoff, it depends on the frame_id set. For example if it is done in device frame at 0 cm but the sensor is 30 cm high, then everything under 30 cm in map frame will be filtered.