Cartographer obstacle detection
Hi there,
i already worked with rtabmap which is working pretty fine. Many thanks to @Dragonslayer for that. I also figured out my problem with the /tf tree so this part seems to work fine. I have a turtlebot3 burger and a kinect camera. I'm now trying to use cartographer. My current problem is that the pointcloud that is created by the kinect also shows points not only infront of the camera but also on the ground. This is working great with rtabmap but cartographer is using the groundpoints as obstacles. Is there a way to let's say exclude ground points ? Or modify the costmaps to exclude these points as obstacles ? What would be the best way to start about this problem ?
Many thanks four your help. Here is my current lua configuration file. I also included the local and global costmap configuration files.
EDIT:
The solution to this problem, is pretty easy, so i will update my question. In 2D mode Cartographer offers these parameters to limit the point cloud. When using the 3D mode it's possible to use something like pcl/PassThrough pcl_manager.
TRAJECTORY_BUILDER_2D.max_z = 0.5
TRAJECTORY_BUILDER_2D.min_z = 0.0
