How to add all obstacles while mapping?

asked 2022-01-11 02:32:09 -0500

zuy gravatar image

Hi everyone, I have a tall mobile robot (about 1.2 meters or 3.9 feet or 47 inches) and I have problems with tall obstacles. My laser scan sensor can only add obstacles and walls which have the same height with it while mapping. This will let the global planner of move_base server to plan paths that go through tall obstacles (like tables). I think a RGBD camera would help but how can I add camera's data to the map while mapping? Thank you and have a nice day!

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Similar question with an answer is there

ljaniec gravatar image ljaniec  ( 2022-01-11 02:43:40 -0500 )edit

Thank you! I read this question but I don't really want to do 3d mapping because I don't want to change my localization and navigation method (amcl and move_base) which is built on 2d assumption. Is there any way to turn a 3d map to 2d map with 3d obstacles inside?

zuy gravatar image zuy  ( 2022-01-11 03:56:50 -0500 )edit

Yes, by projection of 3D map on the 2D map (similar to these steps in the answer there).

ljaniec gravatar image ljaniec  ( 2022-01-11 04:08:24 -0500 )edit

Thank you! I will test it myself.

zuy gravatar image zuy  ( 2022-01-11 04:23:47 -0500 )edit