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If your concern is getting under tables, you can set the max obstacle height to buffer into your environmental representation to just a little taller than your robot. While your cameras would see the table, since its taller than you, you dont really care. For taller robots, they might care and again just set the max obstacle height to a little more than its actual height.

It is alluring (and I constantly fall into this working in perception) to want to use all the data and have the riches representation as possible, but unless the robot needs to later interact with the table and not just navigate around it, its largely unnecessary and would make you have to implement a planner that checks validity based on height in its search as well (which isn't hard, but isnt "free" computationally).

If your concern is getting under tables, you can set the max obstacle height to buffer into your environmental representation to just a little taller than your robot. While your cameras would see the table, since its taller than you, you dont really care. For taller robots, they might care and again just set the max obstacle height to a little more than its actual height.

It is alluring (and I constantly fall into this working in perception) to want to use all the data and have the riches richest representation as possible, but unless the robot needs to later interact with the table and not just navigate around it, its largely unnecessary and would make you have to implement a planner that checks validity based on height in its search as well (which isn't hard, but isnt "free" computationally).