Merge pull request #187 from CMU-cabot/ishihara/livox-detect-obstacle

README.md

@@ -279,6 +279,10 @@ Please check those repositories for the details.
   CABOT_DETECT_PEOPLE_CONF_THRES  # confidence value threshold to detect people (default=0.6)
   CABOT_DETECT_PEOPLE_CLEAR_TIME  # time to clear tracked people from map (default=0.2)
   CABOT_PUBLISH_DETECT_IMAGE # publish people detection image only for debug purpose (default=0)
+  CABOT_LOW_OBSTABLE_DETECT_VERSION # 0-2 (default=0)
+                                    # 0: do not detect low obstacles
+                                    # 1: detect low obstacles after estimating the ground by the fixed height
+                                    # 2: detect low obstacles after estimating the ground by RANSAC
   CABOT_USE_ROBOT_TTS        # use TTS service '/speak_robot' to let PC speaker speak (default=0)
                              # this function is not used now, but maybe used in some scenario
   TEXT_TO_SPEECH_APIKEY      # IBM Cloud Text to Speech Service's API key and URL