ghost objects in obstacle map

[mzillich]

We see "ghost" obstacles appear. At first a misaligned kinect was at fault. But after fixing that the floor was almost perfectly aligned. And still we see obstacle blobs in the local/global cost map.
We can clear them, but eventually they reappear.

[ghost]

There's a parameter called min_obstacle_height in costmap_common_parameters.yaml, you can try to increase that value. Maybe the kinect is properly aligned in terms of orientation but not in terms of z-coordinate.

[mzillich]

cool, we'll try that. thanks!

[ipa-rmb]

Did it work? Can this be closed?