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ros-drivers / urg_node

ROS wrapper for the Hokuyo urg_c library.
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How to disable interpolation for the sensor data (ros2-devel branch) #82

Closed JaehyunShim closed 3 years ago

JaehyunShim commented 3 years ago

Hi, @mikeferguson

As the title says, how can I disable interpolation for the sensor data? Also, if possible, can you add a parameter for setting the on/off state of interpolation for those users who need raw sensor data?

Jaehyun

mikeferguson commented 3 years ago

I'm not aware that this driver does any interpolation - can you post some screenshots or data that shows what interpolation you're seeing?

JaehyunShim commented 3 years ago

@mikeferguson

In the picture below, you can see these noise data (red circles) presumably created by interpolation around the obstacles (blue circles). Screenshot from 2020-12-22 09-58-09

You can see these dots connecting the obstacles (blue circles) more clearly in the next picture. Screenshot from 2020-12-22 10-00-36

JaehyunShim commented 3 years ago

FYI, UAM-05LP-T301 is what I am testing with.

mikeferguson commented 3 years ago

These are not "interpolation" - this is what is known (at least in ROS-land) as a "shadow" - and it's an artifact of the laser operation - not something the drivers do.

The ROS1 package "laser_filters" includes a shadow filter to remove these points (as was popularized on the PR2). The package is semi-ported to ROS2, I had previously tried to run it (about 3 months ago) but ran into issues at the time.

mikeferguson commented 3 years ago

Closing due to lack of response - please reopen if you find additional information that shows these are not sensor artifacts.