Limit Laserscan in z-Direction < X ?

[ASE-HHN]

Hi @koide3,

Is there a possibility to ignore the laserscans under a certain high? Like for example, Velodyne is positioned in 2.5m high, ignoring all input under 2.0m. Problem is our car stands in position while +10/20 pedestrians moving constantly around, probable causing this output:

Same launch-file and location by evening/night leads to a good map (Package download ~early/mid 2019): Adding GPS didn't improve. Tested on two different systems (Ubuntu 16.04 & kinetic) with the same result.

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~~Off-Topic:~~ ~~Btw when we use the latest download version with the same launch and bag-file from picture 2, we get this result (Package download 06.02.2020):~~ ~~First loop should be the square shown in picture 2. We also get the shift in z-Direction with this version, some of the users already noticed.~~

Update: Seems like the the launch file got updated/more options? Get the same result now. First problem still remains, trying to edit the range of my lidar signal with lidar_to_pointcloud and pointcloud_to_lidar.

Thank you!

[koide3]

Hi @ASE-HHN , Regarding the first issue, an easy solution is to create a small problem to filter out unnecessary points. Using lidar_to_pointcloud is also a good option.

If you see a problem relating to the second issue again, please let me know.