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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.

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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>

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

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Last updated: Oct 08 '12

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setting min depth in openni_kinect