octomap_server pointcloud_[min|max_z] and occupancy_[min|max]_z parameters only allow values up to -/+100

[ndugdale]

I have been trying to use the octomap_server to generate an OctoMap that goes up to +/- 120 from the map origin. Points outside the +/-100 range are excluded from the OctoMap, despite setting larger parameter values for pointcloud_[min|max]_z in the launch file.

My launch file looks like this.

<launch>
	<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
		<param name="resolution" value="0.1" />
		<!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
		<param name="frame_id" type="string" value="/map" />
		<!-- maximum range to integrate (speedup!) -->
		<param name="sensor_model/max_range" value="30.0" />
		<param name="latch" value="false"/>
                 <param name="pointcloud_min_z" value="-200.0"/>
                 <param name="pointcloud_max_z" value="200.0"/>
		<!-- data source to integrate (PointCloud2) -->
		<remap from="cloud_in" to="/cloud" />
	</node>
	<node pkg="mapping" type="tf_broadcaster.py" name="tf_broadcaster" output="screen"></node>
        <node pkg="mapping" type="nav_publisher.py" name="nav_publisher" output="screen"></node>
</launch>

I can see that my launch file is correctly accessing the parameters, because if I instead set the pointcloud_[min|max]_z to have a magnitude less than -/+100 (e.g. -/+20), these values will be reflected in the terminal with,

~/catkin_ws$ rosparam get /octomap_server/pointcloud_min_z
-20.0
~/catkin_ws$ rosparam get /octomap_server/pointcloud_max_z
20.0

However, if the parameter is set to be greater than -/+100, it appears to be reset to -/+100. Is this the intended function? The package summary here suggests that the intended default value for these parameters are -/+ infinity.

Thanks!

[aladin2022]

Hello, is the pointcloud_min/max_z reflects the limit height of the points cloud to be projected in the occypancy grid map ?

[laelliott]

Hopefully you aren't still stuck on this but in case someone else is.

It's happening because the dynamic rqt config is boxing the cloud and map it to -100 to 100

If you look at the config you can see where it is set

octomap_mapping/octomap_server/cfg/OctomapServer.cfg

Line 12 in 6e96c83

gen.add("pointcloud_min_z", double_t, 0, "Minimum height of points to consider for insertion", -100, -100, 100)