use less strict parameters for ground filtering #29
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In our setup (an off-the-shelf PR2 with respect to these parts) the previous parameters were too tight: In many situations, especially when an obstacle split the ground-part of a single laser-scan into two segments, one of these segments is not picked up by the line-RANSAC with the old parameters. Thus it ends up as an obstacle obstructing the local costmap of the navigation. With indigo, nobody else noticed this up to now because of a broken filter-chain before that(see PR2#27).
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Note that even though this improves the floor detection, it is still not very good and adds artifacts to the floor. |
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closes via #35 |
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In our setup (an off-the-shelf PR2 with respect to these parts) the
previous parameters were too tight:
In many situations, especially when an obstacle split the ground-part
of a single laser-scan into two segments, one of these segments is not
picked up by the line-RANSAC with the old parameters.
Thus it ends up as an obstacle obstructing the local costmap of the
navigation.
With indigo, nobody else noticed this up to now because of a broken
filter-chain before that(see #27).