# Revision history [back]

### PR2 self-filtering problem

Hi, I am a newer using Moveit on PR2 As i am studying on object manipulation recently, the first thing i need to do is to filter PR2 's arm out of the point cloud read by the kinect

I try to solve this problem by creating a sensors_rgbd.yaml into pr2_moveit_generated/config , like this

and the result is shown in rviz . However, it seems that PR2 's arm is not filtered well, a majority of the hand is still here

"www.dropbox.com/s/66gsfvrc8cfj3e7/self_point.png"

May i ask what should i do in order to get a better filtered point cloud?? thanks a lot!!

### PR2 self-filtering problem

Hi, I am a newer using Moveit on PR2 As i am studying on object manipulation recently, the first thing i need to do is to filter PR2 's arm out of the point cloud read by the kinect

I try to solve this problem by creating a sensors_rgbd.yaml into pr2_moveit_generated/config , like this

and the result is shown in rviz . However, it seems that PR2 's arm is not filtered well, a majority of the hand is still here

"www.dropbox.com/s/66gsfvrc8cfj3e7/self_point.png"

May i ask what should i do in order to get a better filtered point cloud?? thanks a lot!!

### PR2 self-filtering problem

Hi, I am a newer using Moveit on PR2 As i am studying on object manipulation recently, the first thing i need to do is to filter PR2 's arm out of the point cloud read by the kinect

I try to solve this problem by creating a sensors_rgbd.yaml into pr2_moveit_generated/config , like this

sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
max_range: 5.0
point_subsample: 1
filtered_cloud_topic: output_cloudoutput_cloud


and the result is shown in rviz . However, it seems that PR2 's arm is not filtered well, a majority of the hand is still here

May i ask what should i do in order to get a better filtered point cloud?? thanks a lot!!

### PR2 self-filtering problem

Hi, I am a newer using Moveit on PR2 As i am studying on object manipulation recently, the first thing i need to do is to filter PR2 's arm out of the point cloud read by the kinect

I try to solve this problem by creating a sensors_rgbd.yaml into pr2_moveit_generated/config , like this

sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
max_range: 5.0
point_subsample: 1
filtered_cloud_topic: output_cloud


and the result is shown in rviz . However, it seems that PR2 's arm is not filtered well, a majority of the hand is still here

May i ask what should i do in order to get a better filtered point cloud?? thanks a lot!!

 5 retagged tfoote 55812 ●118 ●461 ●491 http://www.ros.org/

### PR2 self-filtering problem

Hi, I am a newer using Moveit on PR2 As i am studying on object manipulation recently, the first thing i need to do is to filter PR2 's arm out of the point cloud read by the kinect

I try to solve this problem by creating a sensors_rgbd.yaml into pr2_moveit_generated/config , like this

sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
max_range: 5.0
point_subsample: 1
filtered_cloud_topic: output_cloud


and the result is shown in rviz . However, it seems that PR2 's arm is not filtered well, a majority of the hand is still here

May i ask what should i do in order to get a better filtered point cloud?? thanks a lot!!

 6 retagged ahendrix 46381 ●158 ●353 ●643 http://namniart.com/

### PR2 self-filtering problem

Hi, I am a newer using Moveit on PR2 As i am studying on object manipulation recently, the first thing i need to do is to filter PR2 's arm out of the point cloud read by the kinect

I try to solve this problem by creating a sensors_rgbd.yaml into pr2_moveit_generated/config , like this

sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
max_range: 5.0
point_subsample: 1
filtered_cloud_topic: output_cloud


and the result is shown in rviz . However, it seems that PR2 's arm is not filtered well, a majority of the hand is still here

May i ask what should i do in order to get a better filtered point cloud?? thanks a lot!!

 7 retagged

### PR2 self-filtering problem

Hi, I am a newer using Moveit on PR2 As i am studying on object manipulation recently, the first thing i need to do is to filter PR2 's arm out of the point cloud read by the kinect

I try to solve this problem by creating a sensors_rgbd.yaml into pr2_moveit_generated/config , like this

sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
max_range: 5.0
point_subsample: 1
filtered_cloud_topic: output_cloud


and the result is shown in rviz . However, it seems that PR2 's arm is not filtered well, a majority of the hand is still here

May i ask what should i do in order to get a better filtered point cloud?? thanks a lot!!

 8 retagged

### PR2 self-filtering problem

Hi, I am a newer using Moveit on PR2 As i am studying on object manipulation recently, the first thing i need to do is to filter PR2 's arm out of the point cloud read by the kinect

I try to solve this problem by creating a sensors_rgbd.yaml into pr2_moveit_generated/config , like this

sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
max_range: 5.0
point_subsample: 1
filtered_cloud_topic: output_cloud


and the result is shown in rviz . However, it seems that PR2 's arm is not filtered well, a majority of the hand is still here

May i ask what should i do in order to get a better filtered point cloud?? thanks a lot!!

 9 retagged

### PR2 self-filtering problem

Hi, I am a newer using Moveit on PR2 As i am studying on object manipulation recently, the first thing i need to do is to filter PR2 's arm out of the point cloud read by the kinect

I try to solve this problem by creating a sensors_rgbd.yaml into pr2_moveit_generated/config , like this

sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater