Ramp handling

[mbr4477]

With a 2D lidar, we can't easily determine if an obstacle is a wall or a ramp. We will need to see how significant of an issue this will be.

[ruffner]

For this, I was thinking use depthcam data; create a plane detection node that accepts a downsampled point cloud and always looks for a slanted plane in the relative center of the FOV.

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On Mon, Mar 2, 2020 at 8:56 AM Matthew Russell ***@***.***> wrote: With a 2D lidar, we can't easily determine if an obstacle is a wall or a ramp. We will need to see how significant of an issue this will be. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#11?email_source=notifications&email_token=AAKB7DPHCDSPRAO4FAYM3STRFO3IFA5CNFSM4K7UYELKYY3PNVWWK3TUL52HS4DFUVEXG43VMWVGG33NNVSW45C7NFSM4IRWNJCA>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAKB7DLV3OAMCJRPNBIWEUDRFO3IFANCNFSM4K7UYELA> .