Octomapping using Velodyne PointCloud2 data maps rings

asked 2022-01-14 02:52:33 -0500

aditya.kolluru gravatar image

I tried to octomap a cube placed infront of a robot, with Velodyne HDL32 on top of the robot. The resultant map also includes the rings that are a part of the Velodyne output. Is there a way to exclude this ring parameter from the output? I even tried converting PointCloud2 to Point Cloud using pcl_ros conversions, but the results are same.

I used the source code provided by Imark1: https://github.com/lmark1/velodyne_si...

For screenshot of resultant images: https://github.com/ros-drivers/velody...

Thanks

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