Updated some configuration parameters: Disable the virtual obstacle generation with the LIDAR.

config/lidar_obstacle_detector_config.yaml

@@ -13,5 +13,5 @@ max_ring: 10
 farthest_enable: False
 farthest_num_rings: 9
 # virtual point computation
-virtual_enable: True
+virtual_enable: False
 virtual_floor_threshold: 0.03

params/costmap/3d_common_params.yaml

@@ -29,7 +29,7 @@ obstacle_layer_lidar:
     topic: /helena/lidar_detector/obstacles,
     observation_persistence: 0.0,
     marking: true,
-    clearing: true,
+    clearing: false,
     min_obstacle_height: -10.0,
     max_obstacle_height: 10.0,
     expected_update_rate: 1,
@@ -54,7 +54,7 @@ obstacle_layer_camera:
   enabled: true
   track_unknown_space: true
   transform_tolerance: 0.2
-  max_obstacle_height: 100.0 #1.0
+  max_obstacle_height: 10.0 #1.0
   footprint_clearing_enabled: false
   combination_method: 1
   observation_sources: camera_marking camera_clearing
@@ -66,8 +66,8 @@ obstacle_layer_camera:
     observation_persistence: 0.0,
     marking: true,
     clearing: false,
-    min_obstacle_height: -100.0,
-    max_obstacle_height: 100.0,
+    min_obstacle_height: -10.0,
+    max_obstacle_height: 10.0,
     expected_update_rate: 1,
     obstacle_range: 5.0,
     raytrace_range: 10.0
@@ -80,8 +80,8 @@ obstacle_layer_camera:
     observation_persistence: 0.0,
     marking: false,
     clearing: true,
-    min_obstacle_height: -100.0,
-    max_obstacle_height: 100.0,
+    min_obstacle_height: -10.0,
+    max_obstacle_height: 10.0,
     expected_update_rate: 1,
     obstacle_range: 5.0,
     raytrace_range: 10.0
@@ -91,7 +91,7 @@ hole_layer_near_camera:
   enabled: true
   track_unknown_space: true
   transform_tolerance: 0.2
-  max_obstacle_height: 100.0 #1.0
+  max_obstacle_height: 10.0 #1.0
   footprint_clearing_enabled: false
   combination_method: 1
   observation_sources: hole_near_marking hole_near_clearing
@@ -103,8 +103,8 @@ hole_layer_near_camera:
     observation_persistence: 0.0,
     marking: true,
     clearing: false,
-    min_obstacle_height: -100.0,
-    max_obstacle_height: 100.0,
+    min_obstacle_height: -10.0,
+    max_obstacle_height: 10.0,
     expected_update_rate: 1,
     obstacle_range: 5.0,
     raytrace_range: 10.0
@@ -117,8 +117,8 @@ hole_layer_near_camera:
     observation_persistence: 0.0,
     marking: false,
     clearing: true,
-    min_obstacle_height: -100.0,
-    max_obstacle_height: 100.0,
+    min_obstacle_height: -10.0,
+    max_obstacle_height: 10.0,
     expected_update_rate: 1,
     obstacle_range: 5.0,
     raytrace_range: 10.0
@@ -128,7 +128,7 @@ hole_layer_far_camera:
   enabled: true
   track_unknown_space: true
   transform_tolerance: 0.2
-  max_obstacle_height: 100.0 #1.0
+  max_obstacle_height: 10.0 #1.0
   footprint_clearing_enabled: false
   combination_method: 1
   observation_sources: hole_far_marking hole_far_clearing
@@ -140,8 +140,8 @@ hole_layer_far_camera:
     observation_persistence: 0.0,
     marking: true,
     clearing: false,
-    min_obstacle_height: -100.0,
-    max_obstacle_height: 100.0,
+    min_obstacle_height: -10.0,
+    max_obstacle_height: 10.0,
     expected_update_rate: 1,
     obstacle_range: 5.0,
     raytrace_range: 10.0
@@ -154,8 +154,8 @@ hole_layer_far_camera:
     observation_persistence: 0.0,
     marking: false,
     clearing: true,
-    min_obstacle_height: -100.0,
-    max_obstacle_height: 100.0,
+    min_obstacle_height: -10.0,
+    max_obstacle_height: 10.0,
     expected_update_rate: 1,
     obstacle_range: 5.0,
     raytrace_range: 10.0