Please help me.. there are too many obstacles in the graph view.

[kuacboss]

I am a beginner. I mapped the school hallway and it looks like this even though there are no obstacles. Does this black color represent matched feature points? If so, is there a way to prevent me from recognizing the ceiling or floor features as obstacles (black)?

[matlabbe]

you can look at Grid/ parameters:

rtabmap --params | grep Grid/
[...]
Param: Grid/MaxObstacleHeight = "0.0"                      [Maximum obstacles height (0=disabled).]

So to filter ceiling, you could add --Grid/MaxObstacleHeight 1.5 to rtabmap arguments. By default the floor should not be detected as obstacle. How are you mapping? in 2D, 3D? on a robot?

[kuacboss]

I am using realsense 455 for my robot. The biggest problem is that, as in other maps, when you visit the same place on a 2D map, the previous map information is erased and a black point cloud appears, ruining the map.

[matlabbe]

Can you share the database?

If stereo data gets too noisy, you may just use a simple thresholding of the floor by turning off normals segmentation (Grid/NormalsSegmentation=false) and set Grid/MaxGroundHeight to 0.1 m for example.

[Glen02lee]

안녕하세요. 저도 realsense d455를 사용하고 있는 사람인데 저도 똑같은 문제가 생기고 있습니다. 저는 다음과 같은 스크립트를 사용하고 있습니다.

천장이 너무 많이검출되어 rangemax를 줄이는 방법을 쓰고 있는데 좋지 않은 방법인것 같습니다.

#!/bin/bash

echo "🟢 [1/6] Launching RealSense D455 driver..." gnome-terminal --tab -- bash -c "ros2 launch realsense2_camera rs_launch.py
camera_name:=d455
device_type:=d455
depth_module.depth_profile:=640x480x30
rgb_camera.color_profile:=640x480x30
enable_gyro:=true
enable_accel:=true
unite_imu_method:=1
enable_sync:=true
align_depth.enable:=true
publish_tf:=true
tf_publish_rate:=30.0; exec bash"

sleep 5

echo "🟢 [2/6] Launching IMU filter (Madgwick)..." gnome-terminal --tab -- bash -c "ros2 run imu_filter_madgwick imu_filter_madgwick_node
--ros-args -p use_mag:=false -p publish_tf:=false -p world_frame:=enu
-r /imu/data_raw:=/camera/d455/imu -r /imu/data:=/rtabmap/imu; exec bash"

sleep 2

echo "🟢 [3/6] Publishing TF: base_link -> d455_link..." gnome-terminal --tab -- bash -c "ros2 run tf2_ros static_transform_publisher
0.09 0 0.57 0 0 0 base_link d455_link; exec bash"

sleep 3

echo "🟢 [4/6] Launching RTAB-Map in SLAM mode with fresh DB..." gnome-terminal --tab -- bash -c "source ~/rtab_ws/install/setup.bash &&
ros2 launch rtabmap_launch rtabmap.launch.py
rtabmap_args:="--delete_db_on_start --Grid/RangeMin 0.3 --Grid/RangeMax 2.5 --Grid/MaxGroundHeight 0.0"
rgb_topic:=/camera/d455/color/image_raw
depth_topic:=/camera/d455/aligned_depth_to_color/image_raw
camera_info_topic:=/camera/d455/aligned_depth_to_color/camera_info
subscribe_depth:=true
subscribe_rgb:=true
frame_id:=base_link
queue_size:=30
wait_imu_to_init:=false
rviz:=true; exec bash"

echo "✅ SLAM with new DB launched successfully!"