ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A answers.ros.org
Ask Your Question
1

Where is max_obstacle_height in an Obstacle_Layer measured from?

asked 2022-07-29 09:08:05 -0500

marpeja gravatar image

updated 2022-07-29 09:09:58 -0500

I want to know where does the local costmap take the origin to measure the height of the obstacles. Is it from the coordinate frame of the sensor, from the coordinate frame of the robot, or from the coordinate frame of the map?

In case it is measured from the coordinate frame of the map is there a way to change the coordinate frame to the one of the robot?

Thank you!

edit retag flag offensive close merge delete

Comments

1

In ros1, my recollection is that each sensor point is converted to the move_base global frame (typically map) and then compared. But I don't know if ros2 has the same behavior.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2022-07-29 09:54:48 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
1

answered 2022-07-29 18:08:34 -0500

ljaniec gravatar image

As @Mike Scheutzow mentioned in the comments, it seems it is the same situation in Nav2 as in ROS1:

gen.add("max_obstacle_height", double_t, 0, "The maximum height of
any obstacle to be inserted into the costmap in meters.", 2, 0, 50)

and

~<name>/<source_name>/max_obstacle_height (double, default: 2.0)

The maximum height in meters of a sensor reading considered valid. This is usually set to be slightly higher than the height of the robot. Setting this parameter to a value greater than the global max_obstacle_height parameter has no effect. Setting this parameter to a value less than the global max_obstacle_height will filter out points from this sensor above that height.

~<name>/<source_name>/min_obstacle_height (double, default: 0.0)

The minimum height in meters of a sensor reading considered valid. This is usually set to be at ground height, but can be set higher or lower based on the noise model of your sensor.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2022-07-29 09:08:05 -0500

Seen: 38 times

Last updated: Jul 29