rtabmap/octomap_grid issue

[robertsenps]

Hi @matlabbe ,

First of all, let me say thank you, my last issue about libpointmatcher issue is solved right now.

Currently, I'm trying to see different things to make a 2d map. I saw rtabmap/octomap_grid is better to create 2d map rather than the grid_map topic. But, I got this error, the map looks broken.

Here's my latest Grid params for rtabmap/rtabmap:

Grid:
  CellSize:                     0.05
  RangeMax:                     10          # Max range for 2d map
  GroundIsObstacle:             false
  FromDepth:                    false
  RayTracing:                   true
  3D:                           true 

  PreVoxelFiltering:            false

  #PCL CropBox filtering 
  FootprintLength:              0.81        # Should be tuned according robot dimensions
  FootprintWidth:               0.635
  FootprintHeight:              0.7

  #Normal Segmentation 
  NormalsSegmentation:          false
  NormalK:                      40
  MaxGroundAngle:               30          # max slope
  MaxGroundHeight:              0.2

  #Clustering  
  ClusterRadius:                0.2        # Cluster tolerance
  MinClusterSize:               30

  #Flat obstacle 
  FlatObstacleDetected:          false
  MaxObstacleHeight:            0.0        # Max height of the lidar, pointcloud above this will be deleted.

  #After segmentation filtering 
  NoiseFilteringRadius:         0.0
  NoiseFilteringMinNeighbors:   0

GridGlobal:
  #Auxiliary function 
  Eroded:                       true
  FootprintRadius:              0.255      # Patch size for 2d map generation. (Make free space under each keyframe with size of this value)
  OccupancyThr:                 0.5

Thank you.

[matlabbe]

I reproduced the problem with the robot mapping demo:

With the fix above: