PR2 self-filtering problem
Hi, I am a newer using Moveit on PR2 As i am studying on object manipulation recently, the first thing i need to do is to filter PR2 's arm out of the point cloud read by the kinect
I try to solve this problem by creating a sensorsrgbd.yaml into pr2moveit_generated/config , like this
sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
point_cloud_topic: /head_mount_kinect/depth_registered/points
max_range: 5.0
padding_offset: 0
padding_scale: 1.5
point_subsample: 1
filtered_cloud_topic: output_cloud
and the result is shown in rviz . However, it seems that PR2 's arm is not filtered well, a majority of the hand is still here
May i ask what should i do in order to get a better filtered point cloud?? thanks a lot!!
Asked by Ronald_Chan on 2013-12-29 20:09:13 UTC
Answers
Just for completeness, that should work ...
padding_offset: 0.02
Asked by hauff on 2016-10-26 09:05:16 UTC
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