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Limiting minimum range of virtual kinect laser scan

asked 2012-06-08 11:25:14 -0500

Intellethan gravatar image

I am trying to simulate a virtual turtlebot creating a map with gmapping in gazebo.

As an answer to a question I asked earlier, I have been advised to limit the minimum distance from the laser a scan must be to be accepted as valid, so that the laser does not pick up the robot itself.

I am having trouble figuring out how to get that done. Does anyone know what the best way to go about that would be? Or where I could read up on making changes like that?

Thanks, -Ethan

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Which driver is producing the original scan data? Some of them provide a minimum range parameter.

joq gravatar imagejoq ( 2012-06-08 13:40:26 -0500 )edit

I don't know how to check which driver that is.

Intellethan gravatar imageIntellethan ( 2012-06-13 08:22:09 -0500 )edit

I have not worked with gazebo, but for the actual turtlebot you can check out the parameters of the package "pointcloud_to_laserscan". In this package, a parameter named "~range_min" defines such value for kinect data. (http://wiki.ros.org/pointcloud_to_laserscan)

sudhanshu_mittal gravatar imagesudhanshu_mittal ( 2013-09-26 12:46:28 -0500 )edit

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answered 2013-09-26 14:01:18 -0500

jorge gravatar image

Hi, sudhanshu_mittal's solution is fine. I add another option: in

turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro

you have the description of the simulated kinect. Parameters

<clip>
    <near>0.05</near>
    <far>8.0</far>
</clip>

allows you to set pointcloud depth limits. In fact, I don't know why near limit it's 0.05... should be 0.4!

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Asked: 2012-06-08 11:25:14 -0500

Seen: 1,013 times

Last updated: Sep 26 '13