Sensor parameters

[alexsimon1]

Hello,

where can i adjust the sensor parameters?
I want to change the max range of the Laser Sensor i use.

Thank you.

[jlblancoc]

Hi @alexsimon1 ,

I don't fully understand what you intend to do... If you refer to using rbpf-slam or icp-slam limiting the maximum lidar range to a certain value, then you should change the maxDistanceInsertion property of the gridmap, e.g. here.

Hope it helps.

[alexsimon1]

Hallo @jlblancoc ,

I will try to explain my problem better.

I want to obtain a gridmap calculated by a 2d graphslam, using a odometry information and laser scan.
If i use the tutorials of the mrpt/graphslam package for ros, i obtain a map as a png.

But the problem is i can't change the resolution of the map and the laserscan msg is not completely integratet, as seen in the picture.

in the config.ini file in the tutorial there are also Mapping Parameters:

https://github.com/mrpt-ros-pkg/mrpt_slam/blob/master/mrpt_graphslam_2d/config/ros_laser_odometry.ini

, but changing them didnt change the result of the map.

i hope my question is a little bit clearer.

Thank you.