publishing "0" points in a point cloud
hi all. basically my problem is with clearing a costmap when using a point cloud to add obstacles to it.
http://youtu.be/VNzrfEc2JYk?t=29s
the video above pretty much shows what's going on. i just put a couple of points in a straight line (ultimately the point cloud will come from a camera, but this indicates the problem i am having).
it's not clearing. i think i've set the clearing distance fine. i'll post it once i boot up ubuntu.
i'm thinking it may be because i need to publish "0" points to clear the line i'm making. otherwise there's really nothing to clear the costmap. i'm not too sure what value i should use for these "0" points -- i tried 0 and they actually came up as obstacles too when put into the costmap.
if anyone can help with this i'll be extremely grateful...
thank you for your time.
So I guess you are using a voxel map as costmap? What do you mean exactly by camera?
i think i was using a voxel layer instead of an obstacle layer. do you think this will make a difference with the clearing? the camera will ultimately generate the poincloud. but in the video i just put a line of points. this is solved using the cloud->laser but i will now try with an obstacle layer
Shouldn't make a difference. By camera I was more thinking about if it is a depth camera or something else which can only output "valid" points, so not out of measurement range etc. See answer,