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autowarefoundation / autoware_ai

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Feature: New Ground Filter #949

Closed amc-nu closed 7 years ago

amc-nu commented 7 years ago

In order to improve obstacle detection a new ground filter was added. Filtering is based on the calculation of the expected distance from sensor to ground on each laser beam and ring. Sensor height is required.

marcusvinicius178 commented 3 years ago

Hi @amc-nu could you please assist me how to use properly the ring_ground_filter or ray_ground_filter with Autoware.AI ? I have followed the steps here: https://gitlab.com/autowarefoundation/autoware.ai/core_planning/-/tree/7718e726716f77d4ebaef2a7649d55157327a9da/costmap_generator

However the occupancy_grid is not generated with the proper value, and does not display the car as obstacle:

https://answers.ros.org/question/377659/occupangygrid-map-issue-ray_ground_filter-fails-to-generate-costmap-on-autowareai/

would you know how to fix this? Thanks.