ROS2 max_range parameter not affecting map

[hofbauerc]

Hi,

I am currently using different parameters for the ROS2 node of the bonxai implementation. However, changing the sensor_model/max_range currently does not affect the map build process.

As described in the bonxai_ros section (https://github.com/facontidavide/Bonxai/tree/main/bonxai_ros) the max_range should be deactivated with -1.0, which is indeed the case. However, changing this value to something like 5.0 or 10.0 does not change the map building process.

Is this a bug or am I missing something?

Thanks in advance!

This is my current config:

bonxai_server_node:
  ros__parameters:
    resolution: 0.05
    frame_id: "world"
    base_frame_id: "livox_frame"

    occupancy_min_z: -10.0
    occupancy_max_z: 20.0

    sensor_model:
      max_range: 5.0
      hit: 0.85
      miss: 0.3
      min: 0.12
      max: 0.97

    latch: false

[ivrolan]

Hi,

It seems that the param max_range was declared but not used in bonxai_server.cpp. Take a look to #28, it should fix it.