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Hi Chengwei,

I already fix this problem and I can share my experience to you.

1. You can visualize the pointcloud2 points by choose the topic on RVIZ. You can check the obstacle which cannot clear whether is caused by noise points from original pointcloud2 topic.

2. If yes, you may need to calibration the sensor which produce pointcloud2 data(maybe camera, or others).

3. If no, please change below parameters: (1) z_resolution (2) z_voxels (3) max_obstacle_height

For max_obstacle_height, I suggest you to set it as slightly higher than the height of your robot.

For z_resolution and z_voxels, I suggest you to set them as below condition. z_resolution * z_voxels = max_obstacle_height

(ex. If the max_obstacle_height set to 1.00, z_resoultion and z_voxels should set 0.2 and 5. Because 0.2 * 5 = 1.00)

Hope these suggestion can help you.