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I suggest to downsample the point clouds before feeding it to obstacles_detection. See pcl_ros's VoxelGrid filter for example: http://wiki.ros.org/pcl_ros/Tutorials/VoxelGrid%20filtering, try with a leaf size of 5 cm.

Another way is to use rtabmap_ros/point_cloud_xyz nodelet to convert depth image to point cloud using decimation for fast downsampling.

<node pkg="nodelet" type="nodelet" name="points_xyz" args="standalone rtabmap_ros/point_cloud_xyz">
   <remap from="depth/image"         to="/zed/zed_node/depth/image"/>
   <remap from="depth/camera_info"   to="/zed/zed_node/depth/camera_info"/>
   <remap from="cloud"               to="voxel_cloud" />
   <param name="decimation"  type="double" value="4"/>
   <param name="voxel_size"  type="double" value="0.05"/>
   <param name="approx_sync" type="bool" value="false"/>
</node>