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Limiting minimum range of virtual kinect laser scan

asked 2012-06-08 11:25:14 -0600

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 image joq  ( 2012-06-08 13:40:26 -0600 )edit

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

Intellethan gravatar image Intellethan  ( 2012-06-13 08:22:09 -0600 )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. (

sudhanshu_mittal gravatar image sudhanshu_mittal  ( 2013-09-26 12:46:28 -0600 )edit

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answered 2013-09-26 14:01:18 -0600

jorge gravatar image

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


you have the description of the simulated kinect. Parameters


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 -0600

Seen: 1,252 times

Last updated: Sep 26 '13