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ros-drivers / velodyne

ROS support for Velodyne 3D LIDARs
http://ros.org/wiki/velodyne
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Octomapping using Velodyne PointCloud2 data maps rings #444

Closed adityakolluru95 closed 2 years ago

adityakolluru95 commented 2 years ago

I tried to octomap a cube placed infront of a robot, with Velodyne HDL32 on top of the robot. The resultant map also includes the rings that are a part of the Velodyne output. Is there a way to exclude this ring parameter from the output? I even tried converting PointCloud2 to Point Cloud using pcl_ros conversions, but the results are same. Capture InkedCapture1_LI The red marking encloses the robot, the yellow marking encloses the face of block, detected by the sensor.

JWhitleyWork commented 2 years ago

The rings you are seeing are returns from the lidar spread across the ground. This is not something that can be turned on or off but must be filtered by a ground filtering algorithm.