No subject

Fri Jan 28 19:52:36 UTC 2011

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
> --
> 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 at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>

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For the costmap_2d that is in move_base you can use these parameters to lim=
it minimum and maximum heights of point cloud data that is considered for o=
bstacles.<div><br></div><div>From <a href=3D"http://www.ros.org/wiki/costma=
p_2d#Sensor_management_parameters">http://www.ros.org/wiki/costmap_2d#Senso=
r_management_parameters</a>:</div>

~&lt;name&gt;/&lt;source_name&gt;/max_obstacle_height=A0(double, default=
: 2.0) The maximum height in meters of a sensor reading considered v=
alid. This is usually set to be slightly higher than the height of the robo=
t. Setting this parameter to a value greater than the global=A0max_obstacle=
_heightparameter has no effect. Setting this parameter to a value less than=
 the global=A0max_obstacle_height=A0will filter out points from this sensor=
 above that height.

~&lt;name&gt;/&lt;source_name&gt;/min_obstacle_height=A0(double, defaul=
t: 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.<div>

<i><br></i></div><div><i><span class=3D"Apple-style-span" style=3D"font-sty=
le: normal;">Hope that helps,</span><br></i><div><br></div><div><br clear=
=3D"all">~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~<br>William Woodall<br>Graduate Sof=
tware Engineering<br>

Auburn University<br><a href=3D"mailto:w at auburn.edu" target=3D"_blank">w at au=
burn.edu</a><br><a href=3D"mailto:wjwwood at gmail.com" target=3D"_blank">wjww=
ood at gmail.com</a><br>~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~<br>
<br><br><div class=3D"gmail_quote">On Tue, Feb 1, 2011 at 6:44 AM, Marja <s=
pan dir=3D"ltr">&lt;<a href=3D"mailto:zurigune0002 at yahoo.es">zurigune0002 at y=
ahoo.es</a>&gt;</span> wrote:<br><blockquote class=3D"gmail_quote" style=3D=
"margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">

<br>
First of all, I apologize if this question has been answered before.<br>
<br>
We have in mind to work with a laser pointing downwards, so the obstacles<b=
r>
lying in the floor in front of the robot could be detected. If I am not<br>
wrong, ROS works with a 2D map, more precisely with a 2D projection of a 3D=
<br>
cloud of points. When performing local planning, the new discovered<br>
obstacles are added to the map.<br>
<br>
My question is: how does ROS consider the floor when it is not detected<br>
exactly (maybe with some tolerance?) where it is supossed to be? My guess i=
s<br>
that it is considered an obstacle and then a laser readings filtering would=
<br>
be necessary and the detection of obstacles of small height not<br>
straightforward. Am I right?<br>
<br>
I would be very grateful for any suggestion from people working in this<br>
area.<br>
<br>
Cheers!<br>
<br>
Maria<br>
<font color=3D"#888888">--<br>
View this message in context: <a href=3D"http://ros-users.122217.n3.nabble.=
com/Floor-detected-as-an-obstacle-tp2397002p2397002.html" target=3D"_blank"=
>http://ros-users.122217.n3.nabble.com/Floor-detected-as-an-obstacle-tp2397=
002p2397002.html</a><br>

Sent from the ROS-Users mailing list archive at Nabble.com.<br>
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k">https://code.ros.org/mailman/listinfo/ros-users</a><br>
</font></blockquote></div><br></div></div>

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