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What does the parameter ~sensor_model/max_range mean in octomap server ? [closed]

asked 2012-06-21 22:02:08 -0500

ChickenSoup gravatar image

updated 2016-05-17 02:44:34 -0500

Hi guys,

With the sensor_model/max_range set to 5, the points of my point cloud that are longer than 5 still get inserted in the map. e.g. the max readings from the LRF

What does sensor_model/max_range really mean? Do I have to filter the LRF max readings in individual scans before assembling it to the point cloud?

Thank you in advance

CS

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Closed for the following reason the question is answered, right answer was accepted by Martin Günther
close date 2016-05-17 03:26:03.862074

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answered 2012-06-21 23:48:47 -0500

AHornung gravatar image

octomap_server will truncate all rays longer than max_range to that range and clear up to that range. That means that longer rays won't be dropped but will still be used to update the free space. If your max range measurements actually mean errors which should not be integrated then you need to filter the points yourself or set them to "nan" in the point cloud. These error values will then be dropped.

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@AHornung does this mean an error? http://imgur.com/5MFk1 Here the sphere is 30m max readings. I think I should filter the max LRF readings, then. My launch file has <param name="max_sensor_range" value="5.0" />

ChickenSoup gravatar image ChickenSoup  ( 2012-06-22 00:25:02 -0500 )edit

The link with the image is not loading. But the parameter needs to be "<param name="sensor_model/max_range" value="5.0" />" in the octomap_server's private node namespace.

AHornung gravatar image AHornung  ( 2012-06-22 01:23:35 -0500 )edit

@AHornung Ok thanks. now it works

ChickenSoup gravatar image ChickenSoup  ( 2012-06-22 21:52:16 -0500 )edit
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answered 2012-06-21 23:12:25 -0500

prince gravatar image

updated 2012-06-21 23:12:44 -0500

The reading beyond defined max_range be capped to this max_range. Octomap_server will do this task.

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@prince you mean those readings will not be inserted to the map right? but in rviz my map (marker array) displays max LRF readings inserted in the map by the octomap. why is that?

ChickenSoup gravatar image ChickenSoup  ( 2012-06-21 23:29:45 -0500 )edit

Any laser array reading is considered only upto max_range for clearing obstacle. It is still used completely for mapping. Are obstacles not getting cleaned properly in such laser readings?

prince gravatar image prince  ( 2012-06-21 23:53:22 -0500 )edit

@prince Thanks

ChickenSoup gravatar image ChickenSoup  ( 2012-06-22 21:53:02 -0500 )edit

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Asked: 2012-06-21 22:02:08 -0500

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Last updated: May 17 '16