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No elevation map generated with D455 #227

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Mobilepayload opened this issue Oct 31, 2022 · 0 comments
Open

No elevation map generated with D455 #227

Mobilepayload opened this issue Oct 31, 2022 · 0 comments

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@Mobilepayload
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Hi, I am trying to generate elevation map using D455 depth camera but nothing is displayed in Rviz. I ran
roslaunch elevation_mapping_demos ground_truth_demo.launch and my conifg file is as follows:

`input_sources:
camera: # A name to identify the input source
type: pointcloud # Supported types: pointcloud
topic: /camera/depth/color/points # your topic
queue_size: 5
publish_on_update: true
sensor_processor:
ignore_points_above: .inf
ignore_points_below: -.inf
cutoff_min_depth: 0.1
cutoff_max_depth: 1.5
type: perfect
normal_factor_a: 0.001063
normal_factor_b: 0.003949
normal_factor_c: 0.0
normal_factor_d: 0.0008278
normal_factor_e: 1
lateral_factor: 0.01576 # approx 1 deg
map_frame_id: "map"
robot_base_frame_id: "map"
robot_pose_with_covariance_topic: ""
track_point_frame_id: "map"
track_point_x: 0.0
track_point_y: 0.0
track_point_z: 0.0
min_update_rate: 2.0
time_tolerance: 1.0
time_offset_for_point_cloud: 0.0
sensor_processor/ignore_points_above: 0.4
robot_motion_map_update/covariance_scale: 0.01

Map.

length_in_x: 30.0
length_in_y: 30.0
position_x: 0.0
position_y: 0.0
resolution: 0.1
min_variance: 0.0001
max_variance: 0.05
mahalanobis_distance_threshold: 2.5
multi_height_noise: 0.001
surface_normal_positive_axis: z
fused_map_publishing_rate: 0.5
enable_visibility_cleanup: false
visibility_cleanup_rate: 1.0
scanning_duration: 1.0`

Terminal OutputL:
Screenshot from 2022-10-31 18-12-29

rqt_graph is as follows:
rosgraph

I'm not sure where exactly I'm going wrong. Thank You

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