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Hi bros,

I am facing with 'ghost obstacles' that similar problem above, however, I could not solve the problem even I used ScanShadowsFilter, can you please give me some advices, thanks in advances, this is my params:

scan_filter_chain:

name: box_filter type: laser_filters/LaserScanBoxFilter

params:

box_frame: R_007/base_link

max_x: 0.438

max_y: 0.332

max_z: 0.231

min_x: -0.438

min_y: -0.332

min_z: -0.01

name: shadows

type: ScanShadowsFilter

params:

min_angle: 5

max_angle: 175

neighbors: 5

window: 1

type: LaserArrayFilter

name: laser_median_filter

params:

range_filter_chain:

name: median_3

type: filters/MultiChannelMedianFilterFloat

params:

number_of_observations: 3

unused: 6

intensity_filter_chain:

name: median_3

type: filters/MultiChannelMedianFilterFloat

params:

number_of_observations: 3

unused: 6

Besides, I also used LaserScanIntensityFilter:

scan_filter_chain:

name: intensity

type: LaserScanIntensityFilter

params:

lower_threshold: 34000

upper_threshold: 37000

disp_histogram: 0

Hi bros,

I am facing with 'ghost obstacles' that similar problem above, to above problem, however, I could not solve the problem even I used ScanShadowsFilter, can you please give me some advices, thanks in advances, this is my params:

scan_filter_chain:

name: box_filter type: laser_filters/LaserScanBoxFilter

params:

box_frame: R_007/base_link

max_x: 0.438

max_y: 0.332

max_z: 0.231

min_x: -0.438

min_y: -0.332

min_z: -0.01

name: shadows

type: ScanShadowsFilter

params:

min_angle: 5

max_angle: 175

neighbors: 5

window: 1

type: LaserArrayFilter

name: laser_median_filter

params:

range_filter_chain:

name: median_3

type: filters/MultiChannelMedianFilterFloat

params:

number_of_observations: 3

unused: 6

intensity_filter_chain:

name: median_3

type: filters/MultiChannelMedianFilterFloat

params:

number_of_observations: 3

unused: 6

Besides, I also used LaserScanIntensityFilter:

scan_filter_chain:

name: intensity

type: LaserScanIntensityFilter

params:

lower_threshold: 34000

upper_threshold: 37000

disp_histogram: 0