ground remover package cannot delete ghost points appears front of car when passing speedbump

[Zeysthingz]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Currently we are using scan_ground_filter algorithm in ground segmentation node but when passing speed bumps the algorithm can not work efficiently because vehicle is shaken and can not delete all ground points ghost points occurs front of vehicle.Because of point occurs on the way obstacle stop planner stops the car. Here is an example of this problem:

Default parameter values are below:

  global_slope_max_angle_deg: 10.0
  local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode
  split_height_distance: 0.2
  non_ground_height_threshold: 0.20
  grid_mode_switch_radius: 20.0
  gnd_grid_buffer_size: 4
  detection_range_z_max: 2.5
  elevation_grid_mode: true

Mainly increasing non_ground_height_threshold parameter affects deleting these points and this parameter is height threshold of non ground objects for elevation grid mode.Currently we tuned parameters and took better result but when increase parameters to much we are losing points tuned_video.

Here is tuned parameters below:

    global_slope_max_angle_deg 50.0
    local_slope_max_angle_deg 35.0 
    split_height_distance 0.25
    non_ground_height_threshold 0.50
    grid_mode_switch_radius 30.0
    gnd_grid_buffer_size 1
    detection_range_z_max 2.5
    elevation_grid_mode true

Here is a bag file to help understand problem ground_remover_bag

Purpose

To improve algorithm when passing speed bumps

Possible approaches

improve algorithm

Definition of done

Tuned current algorithm and tested it on vehicle

[Zeysthingz]

Here is a bag file also includes localization topics.
bag_includes_imu
@miursh
@kaancolak

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[amadeuszsz]

@vividf friendly ping

[vividf]

This issue should solved by using the latest universe using 3d distortion correction in the distortion corrector node.

• The distortion corrector package doesn't compensate for all motion distortion  #6657 (comment)
• feat(pointcloud_preprocessor): support for 3d distortion correction algorithm and refactor distortion correction node #7137 (comment)