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Description
Hello,Could you tell me why not filtet the ground when I use launch the octomap_server.
environment:Ubuntu20.04
ROS's Version:foxy
launch file:
<!--
Example launch file for octomap_server mapping:
Listens to incoming PointCloud2 data and incrementally builds an octomap.
The data is sent out in different representations.
Copy this file into your workspace and adjust as needed, see
www.ros.org/wiki/octomap_server for details
-->
<launch>
<node pkg="octomap_server" exec="octomap_server_node" name="octomap_server">
<param name="resolution" value="0.1" />
<!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
<!-- <param name="frame_id" value="laser" /> -->
<!-- <param name="frame_id" value="laser" /> -->
<param name="frame_id" value="map" />
<param name="base_frame_id" value="base_footprint" />
<!-- maximum range to integrate (speedup!) -->
<param name="sensor_model.max_range" value="5.0" />
<param name="filter_ground" value="true" />
<param name = "ground_filter/plane_distance" value = "1" />
<param name = "ground_filter/angle" value = "1" />
<param name = "filter_speckles" value = "true" />
<param name = "outrem_radius" value = "1.0" />
<param name = "outrem_neighbors" value = "10" />
<!-- data source to integrate (PointCloud2) -->
<remap from="cloud_in" to="/PointCloud2" />
<!-- <remap from="projection_map" to="/map" /> -->
</node>
<!-- <node pkg="joint_state_publisher" exec="joint_state_publisher" name="joint_state_publisher" />
<node pkg="robot_state_publisher" exec="robot_state_publisher" name="robot_state_publisher" />
<node pkg="tf2_ros" exec="static_transform_publisher" name="static_transform_publisher" args="0 0 0 0 0 0 /base_footprint /laser" /> -->
</launch>