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Improve configuration of depth_occupancy_map node while running

Daniel Müller requested to merge dev/depth_mapping_online_configuration into master

Main goal has been enabling online adjustment of minimum height for points downprojected as obstacle in order to tweak this value when working in the real world.

Use rosparam get /depth_occupancy_map to see all available config values or take a look in config/depth_occupancy_map.yaml.

You may want activate continuous depth mapping with r.toggle_permanent_depth_occupancy_mapping() while looking to the ground and adjust lower bound for obstacle points with rosparam set /depth_occupancy_map/lower_height_bound <Z THRESHOLD>. Also check downprojected map while moving because of non-planar 3D movement of robot.

Edited by Daniel Müller

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