Hi Zac,
That filtering is exactly what you need.  When looking down a long hallway the laser returns max range.  To be conservative this is not used to ray trace out obstacles since we have observed absorbative objects like leather couches reporting max range.  There's a discussion on this thread https://code.ros.org/lurker/message/20100923.164610.34535675.en.html

Tully

On Wed, Nov 17, 2010 at 3:43 PM, zdydek <zac@mit.edu> wrote:

Yes, rotating the robot does not clear them out (unless I rotate to a
configuration where another farther away obstacle appears behind the phantom
obstacle). Translating the robot towards the obstacle does not clear them
out either until the robot almost drives on top of them. I am using a Hokuyo
URG and a fairly coarse (0.05 m/pix) map resolution.

I've read some of your other posts suggesting a filtered laser signal used
for clearing that converts max_range signals to slightly less than
max_range. Would that be applicable to my situation? Is there another option
that might be easier to implement?

Thanks,

-Zac
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Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827

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