search

mrpt-ros-pkg / mrpt_slam

ROS wrappers for SLAM algorithms in MRPT
http://wiki.ros.org/mrpt_slam
BSD 3-Clause "New" or "Revised" License
114 stars 49 forks source link

Sensor parameters #60

Open alexsimon1 opened 4 years ago

alexsimon1 commented 4 years ago

Hello,

where can i adjust the sensor parameters? I want to change the max range of the Laser Sensor i use.

Thank you.

jlblancoc commented 4 years ago

Hi @alexsimon1 ,

I don't fully understand what you intend to do... If you refer to using rbpf-slam or icp-slam limiting the maximum lidar range to a certain value, then you should change the maxDistanceInsertion property of the gridmap, e.g. here.

Hope it helps.

alexsimon1 commented 4 years ago

Hallo @jlblancoc ,

I will try to explain my problem better.

I want to obtain a gridmap calculated by a 2d graphslam, using a odometry information and laser scan. If i use the tutorials of the mrpt/graphslam package for ros, i obtain a map as a png.

But the problem is i can't change the resolution of the map and the laserscan msg is not completely integratet, as seen in the picture. rvizmap_vs_mrptmap

in the config.ini file in the tutorial there are also Mapping Parameters:

https://github.com/mrpt-ros-pkg/mrpt_slam/blob/master/mrpt_graphslam_2d/config/ros_laser_odometry.ini

, but changing them didnt change the result of the map.

i hope my question is a little bit clearer.

Thank you.