costmap_2d::VoxelLayer not clearing [closed]
Hello there,
I'm using the move_base navigation stack. I'm realizing that the costmap_2d::VoxelLayer
doesn't seem to clear up
the costmap when the data are fed from and rgbd sensor. I'm using the following costmap configuration (I omit the local_costmap and global_costmap parameters, I report only the common parameters)
robot_radius: 0.16
plugins:
- {name: static_layer, type: 'costmap_2d::StaticLayer'}
- {name: obstacles_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
obstacles_layer:
obstacle_range: 1.5
raytrace_range: 3.0
observation_sources: rgbd_scan laser_scan
rgbd_scan: {sensor_frame: camera_rgb_optical_frame, data_type: PointCloud2, topic: rgbdscan, marking: true, clearing: true, min_obstacle_height: 0.03, max_obstacle_height: 1.00, mark_threshold: 3}
laser_scan: {sensor_frame: laser_link, data_type: LaserScan, topic: scan, marking: true, clearing: true}
inflation_layer:
inflation_radius: 0.7
cost_scaling_factor: 20.0
Clearing doesn't work!
Regards, Federico