Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

setting min depth in openni_kinect

asked 2012-10-08 00:48:04 -0600

Grega Pusnik

460 ●25 ●30 ●43 http://si.linkedin.com...

updated 2016-10-24 09:08:28 -0600

ngrennan
1 ●1 ●1

How do you setup minimum still acceptable depth in openni_kinect. The problem is when trying to simulate Turtlebot and building maps with SLAM. Min depth is set too low and simulated laser picks up turtlebot itself resulting in poorly build maps.

Or can I adjust minimum depth somewhere else?

Thank you.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2012-10-08 02:07:17 -0600

Grega Pusnik

460 ●25 ●30 ●43 http://si.linkedin.com...

I have found the solution. Needed to change parameters in turtlebot_description in gazebo.urdf.xacro under <xacro:macro name="turtlebot_sim_laser">

<minRange>0.30</minRange>

I also modified the angle of simulated laser, because it was way to big:

<minAngle>-57</minAngle>
<maxAngle>57</maxAngle>

edit flag offensive delete link

add a comment

Question Tools

Stats

Asked: 2012-10-08 00:48:04 -0600

Seen: 257 times

Last updated: Oct 08 '12

setting min depth in openni_kinect edit

1 Answer

Question Tools

Stats

Related questions

setting min depth in openni_kinect