[Rock-dev] base::samples::Pointcloud -> TraversabilityMap

[Sylvain Joyeux]

On 11/06/2012 05:17 PM, Stefan Haase wrote:
> Second (just some questions):
> 1. Do you have a short-one-sentence explanation what's controlled by the
> following parameters:
> - MLSProjection::use_uncertainty
> - MLSProjection::use_negative_informations
> - MLSSlope::corrected_step_threshold
> - MLSSlope::use_stddev (generates quite useless traversability maps if
> set to true)
I cannot reply for MLSProjection.

corrected_step_threshold: the operator calculates the step between two 
adjacent cells, but corrects it by the local slope. The idea is that if 
the local slope is high, then the step that the robot "sees" (i.e. the 
one that we should compare with the ground clearance) is less than the 
one calculated by comparing the two adjacent cells. In principle, it 
should be set to the robot's ground clearance

use_stddev: whether the system should use the cells standard deviation 
to calculate the worstcase difference between two adjacent cells. If you 
have high standard deviation, it probably makes a completely 
non-traversable maps.

> 2. slam/envire/viz/ TraversabilityGridVisualization uses the constant
> band name 'grid_data' (empty in my case) instead of 'traversability'
> (contains the required data).
> What's wrong here?
It should be made a parameter (i.e. Q_PROPERTY) of the visualization plugin.
-- 
Sylvain Joyeux (Dr.Ing.)
Space & Security Robotics

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