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Improve configuration of depth_occupancy_map node while running

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Merged Daniel Müller requested to merge dev/depth_mapping_online_configuration into master Feb 28, 2022
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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 Feb 28, 2022 by Daniel Müller
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Source branch: dev/depth_mapping_online_configuration