obstacles are not removed from the costmap

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Hi,

I've searched and i found similar questions, but no conclusions.

scenario:

ROS: Indigo

Laser: XV11

The robot is stable not moving, i move near the robot, and the map is updated with an obstacle, i move away, and the obstacle is not removed (unless the move_base is restarted), the laser is clear, the obstacle is still there plus some yellow dots.

rviz snapshots:

initial: https://dl.dropboxusercontent.com/u/1...

obstacle present: https://dl.dropboxusercontent.com/u/1...

obstacle gone: https://dl.dropboxusercontent.com/u/1...

obstacle gone (laser only): https://dl.dropboxusercontent.com/u/1...

If i go again to the front of the robot the obstacle area get's bigger, and stays there even when i move away.

Any clues ?

Regards,

Tiago

Update1: (costmap parameters)

==========================================================

robot_radius: 0.22545

inflation_layer:
  enabled: true
  cost_scaling_factor: 10.0
  inflation_radius: 0.25

obstacle_layer:
  enabled: true
  obstacle_range: 2.5
  raytrace_range: 3.0
  max_obstacle_height: 0.6
  min_obstacle_height: 0.0
  observation_sources: scan_source
  scan_source:
    data_type: LaserScan
    topic: /xv11
    marking: true
    clearing: true
    expected_update_rate: 0.4
    observation_persistence: 0.0

==========================================================

local_costmap:
   plugins:
      - {name: sonar_source, type: "range_sensor_layer::RangeSensorLayer"}
      - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
      - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
   global_frame: /odom
   robot_base_frame: /base_footprint
   update_frequency: 3.0
   publish_frequency: 1.0
   static_map: false
   rolling_window: true
   transform_tolerance: 1.0
   map_type: costmap
   width: 6.0
   height: 6.0
   resolution: 0.01

==========================================================

global_costmap:
  plugins:
    - {name: sonar_source, type: "range_sensor_layer::RangeSensorLayer"}
    - {name: static_layer, type: 'costmap_2d::StaticLayer'}
    - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
    - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
  global_frame: /map
  robot_base_frame: /base_footprint
  update_frequency: 1.0
  publish_frequency: 0.0
  static_map: true
  rolling_window: false
  resolution: 0.01
  transform_tolerance: 1.0
  map_type: costmap