ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
An approach we've used in the past for this is to limit the clearing rays to be not the full width of the sensor scan, but only a subset to avoid clearing partial voxels. It's more conservative, but will require better coverage with your sensors.
That's why you can configure different input topics for marking and clearing separately. You can filter the raw scan to remove the edges and label it for clearing only. And use the raw scan for marking.