Comments (5)
mikeferguson
commented on August 24, 2024
I'm not aware that this driver does any interpolation - can you post some screenshots or data that shows what interpolation you're seeing?
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JaehyunShim
commented on August 24, 2024
In the picture below, you can see these noise data (red circles) presumably created by interpolation around the obstacles (blue circles).
You can see these dots connecting the obstacles (blue circles) more clearly in the next picture.
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JaehyunShim
commented on August 24, 2024
FYI, UAM-05LP-T301 is what I am testing with.
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mikeferguson
commented on August 24, 2024
These are not "interpolation" - this is what is known (at least in ROS-land) as a "shadow" - and it's an artifact of the laser operation - not something the drivers do.
The ROS1 package "laser_filters" includes a shadow filter to remove these points (as was popularized on the PR2). The package is semi-ported to ROS2, I had previously tried to run it (about 3 months ago) but ran into issues at the time.
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mikeferguson
commented on August 24, 2024
Closing due to lack of response - please reopen if you find additional information that shows these are not sensor artifacts.
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