arshadlab / gazebo_map_creator

Apache License 2.0

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No point cloud of ground plane #4

Closed PotatoMa0119 closed 3 months ago

PotatoMa0119 commented 3 months ago

Hi,

Thanks for your great work and effort! I built a simple Gazebo world, and the conversion to .pcd file was smooth. However, I found that there's no point cloud for the ground plane, which is necessary for my use case. Could you please let me know if there's any way to include ground plane into the conversion as well?

Thanks in advance! WX20240401-121337@2x WX20240401-121409@2x

arshadlab commented 3 months ago

Hi, The ground plane is likely not included in your case since the lower z coordinates may not be covering it.

ros2 run gazebo_map_creator request_map.py -c '(-4.8,-4.5,0.03)(4.8,4.5,8.0)' -r 0.01 -f $PWD/map

Change 0.03 to even lower value until you start seeing ground plane being rendered. Also make sure that ground plane is solid and it's existence can block rays. Alternatively increasing -r value can also help but results will not be very accurate.

Regards, Arshad

PotatoMa0119 commented 3 months ago

I adjusted the 0.03 and now I get the ground. Great thanks!