Ground appear in octomap

introlab / rtabmap_ros

RTAB-Map's ROS package.

http://wiki.ros.org/rtabmap_ros

BSD 3-Clause "New" or "Revised" License

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Ground appear in octomap #1197

Open Boris-Cui opened 1 month ago

Boris-Cui commented 1 month ago

Hello, I am using the ROS 2 Humble version of RTAB-Map. I generated a 3D OctoMap, but the generated map includes the ground, meaning that the ground is marked as occupied. Which parameter should I modify to remove the ground?

matlabbe commented 1 month ago

The ground is occupied indeed. You can look at the /rtabmap/octomap_obstacles topic, which would have the ground filtered.