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