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LaserScans not in the Map

asked 2011-12-20 07:16:19 -0600

David Lu gravatar image

updated 2011-12-21 03:05:09 -0600

Is there a node that returns all of the LaserScan points that are (probably) not in the map?

Edit: Clarification: I was assuming a static map relative to a robot that has already been localized. What I'd like to be able to say is "these laser scans are of the wall (which has always been there) and this person shaped blob of laser readings is new."

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Could you add some detail to this question? What map (local or global from costmap_2d with s standard nav_stack config? or something entirely different?)? And do you mean the points there are to be inserted into a map as fresh obstacles or a "scan" representing things your scan missed in the map?
Eric Perko gravatar image Eric Perko  ( 2011-12-20 08:13:10 -0600 )edit
Clarification posted above.
David Lu gravatar image David Lu  ( 2011-12-21 03:05:29 -0600 )edit

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answered 2012-02-13 03:54:35 -0600

David Lu gravatar image

For future users who stumble upon this question, I've written a node (not yet pushed to our public repository) that does this task.

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Asked: 2011-12-20 07:16:19 -0600

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Last updated: Feb 13 '12