<meta http-equiv="content-type" content="text/html; charset=utf-8"><span class="Apple-style-span" style="font-family: arial, sans-serif; font-size: 13px; border-collapse: collapse; ">Xiaojun,</span><div><font class="Apple-style-span" face="arial, sans-serif"><span class="Apple-style-span" style="border-collapse: collapse;"><br>
</span></font></div><div><font class="Apple-style-span" face="arial, sans-serif"><span class="Apple-style-span" style="border-collapse: collapse;">The warning you're seeing means that something is going wrong in the laser filters that are being applied to the tilt laser. There are a number of different filters applied in the pr2_navigation_perception package and you'll probably want to check the output of each to see what's going on. Off the top of my head:</span></font></div>
<div><font class="Apple-style-span" face="arial, sans-serif"><span class="Apple-style-span" style="border-collapse: collapse;"><br></span></font></div><div><font class="Apple-style-span" face="arial, sans-serif"><span class="Apple-style-span" style="border-collapse: collapse;">tilt_scan->tilt_scan_shadow_filtered (shadow filtering)</span></font></div>
<div><font class="Apple-style-span" face="arial, sans-serif"><span class="Apple-style-span" style="border-collapse: collapse;">tilt_scan_shadow_filtered->tilt_scan_filtered (filtering based on the URDF of the robot, in its default configuration will not work for a robot that is not the PR2, this is probably where things are going wrong)</span></font></div>
<div><font class="Apple-style-span" face="arial, sans-serif"><span class="Apple-style-span" style="border-collapse: collapse;">tilt_scan_filtered->ground_object_cloud (filtering out of obstacles that lie on the ground)</span></font></div>
<div><font class="Apple-style-span" face="arial, sans-serif"><span class="Apple-style-span" style="border-collapse: collapse;"><br></span></font></div><div><font class="Apple-style-span" face="arial, sans-serif"><span class="Apple-style-span" style="border-collapse: collapse;">Also, using the pr2_2dnav application on a robot that is not the PR2 probably wont work, though the components of the application can give you insight on how to structure a similar one. I'd suggest taking a look at how the application works and creating a similar one for your robot that has the necessary changes. There's a tutorial on this here: </span></font><a href="http://www.ros.org/wiki/navigation/Tutorials/RobotSetup">http://www.ros.org/wiki/navigation/Tutorials/RobotSetup</a></div>
<meta http-equiv="content-type" content="text/html; charset=utf-8"><div><font class="Apple-style-span" face="arial, sans-serif"><span class="Apple-style-span" style="border-collapse: collapse; "><br></span></font></div><div>
<font class="Apple-style-span" face="arial, sans-serif"><span class="Apple-style-span" style="border-collapse: collapse;">Hope this helps,</span></font></div><div><font class="Apple-style-span" face="arial, sans-serif"><span class="Apple-style-span" style="border-collapse: collapse;"><br>
</span></font></div><div><font class="Apple-style-span" face="arial, sans-serif"><span class="Apple-style-span" style="border-collapse: collapse;">Eitan</span></font></div><div><font class="Apple-style-span" face="arial, sans-serif"><span class="Apple-style-span" style="border-collapse: collapse;"><br>
</span></font><br><div class="gmail_quote">On Mon, Oct 18, 2010 at 12:51 AM, clarkwu <span dir="ltr"><<a href="mailto:wu.xiaojun@gmail.com">wu.xiaojun@gmail.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
<br>
Still no any clue ... anybody?<br>
<font color="#888888">--<br>
View this message in context: <a href="http://ros-users.122217.n3.nabble.com/Navigation-stack-issue-about-ground-plane-detection-tp1707477p1723381.html" target="_blank">http://ros-users.122217.n3.nabble.com/Navigation-stack-issue-about-ground-plane-detection-tp1707477p1723381.html</a><br>

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