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Mirroring PointCloud data as laserScan data

asked 2023-04-06 06:01:08 -0600

furkan_ gravatar image

updated 2023-04-07 00:28:31 -0600

Hello, Using the depthimage_to_laserscan package, I can convert pointcloud data from the depth camera into laser data and display them in the rviz environment. In the same way, I can create a costmap. But pointcloud data doesn't show obstacles higher than the robot's own size as a costmap. Like lidar data, it only takes into account its own axes. And when that happens, my robot crashes into that object. Is there a way to set this in the package I'm using? I want it to take the minimum value from the Z axis and return it and reflect it as laser data. Or do I have to write code myself? Thank you.

ROS: Noetic System: Ubuntu 20.04

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answered 2023-04-07 06:55:49 -0600

Mike Scheutzow gravatar image

The depthimage_to_laserscan node does not know your robot's height. The doc says it reads a single pixel row of the rectangular depth image (the middle row in the y-dimension.) But you can configure the node to read additional rows from the depth image.

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Thank you. I was able to solve the problem with the "scan_height" parameter. But the smallest points from the camera also appear as costmaps. Do you have any suggestions on this subject?

furkan_ gravatar image furkan_  ( 2023-04-10 01:37:11 -0600 )edit

Only the obvious: write a filter to remove points from the pointcloud. I have no suggestion for an existing filter to do this for you.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2023-04-11 08:19:28 -0600 )edit

Thank you.

furkan_ gravatar image furkan_  ( 2023-04-11 08:52:23 -0600 )edit

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Asked: 2023-04-06 06:01:08 -0600

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Last updated: Apr 07 '23