[ros-users] Floor detected as an obstacle?

William Woodall wjwwood at gmail.com
Tue Feb 1 15:33:01 UTC 2011

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

>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 at auburn.edu
wjwwood at gmail.com

On Tue, Feb 1, 2011 at 6:44 AM, Marja <zurigune0002 at 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
> --
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