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 | 1 | initial version |
Tentative answer as I cannot test on the robot at the moment:
It looks like the following function in Karto.h
inline const PointVectorDouble& GetPointReadings(kt_bool wantFiltered = false) const
is NEVER called with wantFiltered = true And there is no parameter for adjusting this. Thus, Karto's mapper uses measurements whose range is smaller than the LiDAR's min_range. I think these don't show up in RViz exactly because they are below min_range; RViz probably filters them out.
| | 2 | No.2 Revision |
Tentative answer as I cannot test on the robot at the moment:
It looks like the following function in Karto.h
inline const PointVectorDouble& GetPointReadings(kt_bool wantFiltered = false) const
is NEVER called with wantFiltered = true And there is no parameter for adjusting this. Thus, Karto's mapper uses measurements whose range is smaller than the LiDAR's min_range. I think these don't show up in RViz exactly because they are below min_range; RViz probably filters them out.
PS. The reason this doesn't occur in simulation is because the simulated LiDAR measurements are always between min_range and max_range
| | 3 | No.3 Revision |
Tentative answer as I cannot test on the robot at the moment:
It looks like the following function in Karto.h
inline const PointVectorDouble& GetPointReadings(kt_bool wantFiltered = false) const
is NEVER called with wantFiltered = true And there is no parameter for adjusting this. Thus, Karto's mapper uses measurements whose range is smaller than the LiDAR's min_range. I think these don't show up in RViz exactly because they are below min_range; RViz probably filters them out.
See: https://github.com/ros-perception/open_karto/pull/9
PS. The reason this doesn't occur in simulation is because the simulated LiDAR measurements are always between min_range and max_range
| | 4 | No.4 Revision |
It looks like the following function in Karto.h
inline const PointVectorDouble& GetPointReadings(kt_bool wantFiltered = false) const
is NEVER called with wantFiltered = true And there is no parameter for adjusting this. Thus, Karto's mapper uses measurements whose range is smaller than the LiDAR's min_range. I think these don't show up in RViz exactly because they are below min_range; RViz probably filters them out.
See: Edit: I opened a pull request: https://github.com/ros-perception/open_karto/pull/9
PS. The reason this doesn't occur in simulation is because the simulated LiDAR measurements are always between min_range and max_range
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