Re: [ros-users] Floor detected as an obstacle?

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:
*~<name>/<source_name>/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.

~<name>/<source_name>/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 <zurigune0002@yahoo.es> 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
>