How not to scan the ground as a wall when mapping
Hi, Thank you for your help. When I was gmapping a robot with velodyne-16 velodyne_points using pointcloud_to_laserscan, I encountered a phenomenon that the ground in front of the robot was recognized as a wall. if I changed min_height or min_height to extremely narrow, it would be recognized as a wall. The ground is not recognized as a wall, but that does not make the gmapping work, and obstacles below velodyne cannot be detected. I would like to get some advice on what to do. As far as I can think, I would like to remove the laser points if they are widely spaced, but I don't know how to do that. Thank you very much. Thank you in advance.
Is the lidar always detecting the ground, or does it happen just sometimes while the robot is moving? Could the body of the robot be bouncing? How far away is the real wall?