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m4nh / skimap_ros

Ros implementation of Skimap
GNU General Public License v3.0
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Implementation on quadrotor #25

Open Razbotics opened 6 years ago

Razbotics commented 6 years ago

Hey i successfully made skimap to work with orb slam 2 ...but i have some confusions.. i saw some parameters in launch file called ground height and agent height... i cant understand what are those...what i think is a quadrotor doesnt fly at constant height so the agent height cant be constant, anyways while testing i set them to zero. If i am thinking wrong please correct me....can it be used with quadrotors too? I got a map something like this photo from _ _

m4nh commented 6 years ago

@Razbotics the AgentHeight and GroundLevel are used only when computing 2D Map for a Mobile Robot. For the 3d map, as your scenario, are ineffective. Maybe try to set MinWeight a little bit higher to remove noise

Razbotics commented 6 years ago

Ok thanks for the reply....but does skimap updates map based on dynamic objects...when experimenting i found that the occupancy was still filled after removing the object from the same area.