Closed dburgt98 closed 2 years ago
Thanks for reporting! Basically we recommend to filter the pointcloud in the application according to the requirements. We will check and adjust the range filter.
Thanks for reporting! Basically we recommend to filter the pointcloud in the application according to the requirements. We will check and adjust the range filter.
Thank you for the recommendation. I will try to filter out the ranges in my application then.
In case the range filter currently has a bug, I will keep an eye on new commits to see if it gets fixed. So that I can reduce the application code to keep it simple.
However, if you checked it and it is not a bug, but I simply made a mistake, then please let me know.
With version 2.8.7 and higher you can set the filter parameter as you proposed in your issue.
The launch files in this repository for the lidar sensors contain a parameter called 'range_max'. For the lms_1xx sensor specifically, I have changed the value of this parameter with the intention to limit the range in the pointcloud output. However, when I launch a model with three sensors, and visualize the transformed pointcloud data in RVIZ, I notice that the parameter is not effective as the range is not limited in the visualization. As you can see in the image, pointcloud data of the 'wall' is still visible, though I only want to scan the item on the conveyor belt.
Could this be a bug in the repository? Or could there be any other reason why the range is not limited after changing the value? What would be advised for me to filter out the wall, or any other object outside the range of the conveyor belt? Please read further for more details.
roslaunch sick_scan sick_lms_1xx.launch
I have modified the launch file a little, by making 'range_max', 'min_ang' and 'max_ang' configurable. I did this to be able to start multiple sensors from a different launch file, while being able to configure the values. I have not included that other launch file, as this issue also occurs when launching just a single sensor manually with the following commands (see result in second image):
roslaunch sick_scan sick_lms_1xx.launch
rviz
(second window, added pointcloud for topic '/cloud' to rviz)rosrun tf static_transform_publisher 0 0 0 0 0 0 /map /cloud 50
(third window)