ToDo to improve obstacle detection under of over LIDAR line of sight (such as office chair legs).
Modify SecurBot bringup to generate the pointcloud with RTAB-Map (in launch/includes/rtabmap_bringup) instead of the RealSense SDK filter (in launch/includes/sensors/realsense) and tune to get good performance and lower CPU.
Enable back pointcloud observation source in costmap_common_config.yaml.
RTAB-Map pointcloud XYZ
RTAB-Map obstacle detection
ToDo to improve obstacle detection under of over LIDAR line of sight (such as office chair legs).
Modify SecurBot bringup to generate the pointcloud with RTAB-Map (in
launch/includes/rtabmap_bringup) instead of the RealSense SDK filter (inlaunch/includes/sensors/realsense) and tune to get good performance and lower CPU.Enable back pointcloud observation source in costmap_common_config.yaml.
RTAB-Map pointcloud XYZ
RTAB-Map obstacle detection