Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Your robot would have to move only on empty cells, and avoid unknown cells. The empty cells seem sparse in your screenshot, you may use point_cloud_assembler node to accumulate multiple velodyne scans while moving and feed the assembled_cloud to rtabmap node instead of the velodyne point cloud. This could help to get denser empty cells in the static map. Parameter Grid/MaxObstacleHeight could be also set to -0.10 so that plane surfaces 10 cm under the ground are not labelled as empty, but obstacles instead.