For the costmap_2d that is in move_base you can use these parameters to limit minimum and maximum heights of point cloud data that is considered for obstacles. >From http://www.ros.org/wiki/costmap_2d#Sensor_management_parameters: *~//max_obstacle_height (double, default: 2.0) The maximum height in meters of a sensor reading considered valid. This is usually set to be slightly higher than the height of the robot. Setting this parameter to a value greater than the global max_obstacle_heightparameter has no effect. Setting this parameter to a value less than the global max_obstacle_height will filter out points from this sensor above that height. ~//min_obstacle_height (double, default: 0.0) The minimum height in meters of a sensor reading considered valid. This is usually set to be at ground height, but can be set higher or lower based on the noise model of your sensor.* * * *Hope that helps, * ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ William Woodall Graduate Software Engineering Auburn University w@auburn.edu wjwwood@gmail.com ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ On Tue, Feb 1, 2011 at 6:44 AM, Marja wrote: > > First of all, I apologize if this question has been answered before. > > We have in mind to work with a laser pointing downwards, so the obstacles > lying in the floor in front of the robot could be detected. If I am not > wrong, ROS works with a 2D map, more precisely with a 2D projection of a 3D > cloud of points. When performing local planning, the new discovered > obstacles are added to the map. > > My question is: how does ROS consider the floor when it is not detected > exactly (maybe with some tolerance?) where it is supossed to be? My guess > is > that it is considered an obstacle and then a laser readings filtering would > be necessary and the detection of obstacles of small height not > straightforward. Am I right? > > I would be very grateful for any suggestion from people working in this > area. > > Cheers! > > Maria > -- > View this message in context: > http://ros-users.122217.n3.nabble.com/Floor-detected-as-an-obstacle-tp2397002p2397002.html > Sent from the ROS-Users mailing list archive at Nabble.com. > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >