robot self model filter for depth sensor in ros hydro

asked 2013-07-25 08:58:41 -0500

Mike Gao
108 ●15 ●16 ●21

updated 2014-04-20 14:09:50 -0500

ngrennan
1 ●1 ●1

Hello! I am using ros hydro and my os is ubuntu 12.04 32bit. I want to know if there are suitable depth sensor filters in ros hydro which can filter out the points colliding with the robot self parts based on the robot model (e.g., through urdf file). Currently I am using a footprint filter for 2D laser scanner, and it seems to work fine, but I do know if there is such kind of filter for 3D sensor, e.g., kinect. And also in ros hydro, things are changing, so I would like just to ask. Thanks in advance for any suggestions and helps!

answered 2013-09-04 23:24:06 -0500

fivef

2756 ●24 ●44 ●41

Yes, there is a self filter. You need to create a moveit package for your robot and then create a sensors_rgbd.yaml in your moveit config folder.

sensors_rgbd.yaml:

sensors:
  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    point_cloud_topic: /kinect/depth_registered/points
    max_range: 4.0
    frame_subsample: 1
    point_subsample: 10
    shape_padding: 0.03
    shape_scale: 1.0
    filtered_cloud_topic: filtered_cloud

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Comments

what do you mean by "create a moveit package"? Do I need to install the entire MoveIt? Is it possible to just take it out from MoveIt?

mark_vision ( 2014-05-21 00:56:13 -0500 )edit

The Point Cloud Octomap Updater is a MoveIt plugin. Why would you not like to use MoveIt?

fivef ( 2014-05-29 06:59:20 -0500 )edit

Because I don't want to install the full moveit! framework for just one functionality, I have limited hardware and I want to keep things as simple as possible.

mark_vision ( 2014-05-29 22:52:08 -0500 )edit

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