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answered 2016-10-13 10:17:48 -0500

joq gravatar image

Here is a fairly simple package that processes Velodyne data into a height map.

The source code is here: https://github.com/jack-oquin/velodyne_height_map

Despite its simplicity, it's fairly robust at detecting obstacles, although it is sometimes subject to false positives due to things like overhanging tree branches.