obstacle add from voxel_layer cannot clear
I am trying to test the obstacle avoid in my robot, I am using a laserscan and a pointcloud2 sensors to get the information of the obstacles, they add the obstacles right in the 2d visualization, the obstacle added from laser can clear automatically, but the obstacle add from the 3D depth sensor can't clear automatically. Anyone encounter this problem? Any suggests?
here is navigation configure(move_base) :
local_costmap_params.yaml
local_costmap:
global_frame: /odom
robot_base_frame: /base_link
update_frequency: 3
publish_frequency: 3
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.025
transform_tolerance: 1.0
map_type: costmap
#static_layer:
#enabled: false
plugins:
- {name: obstacle_layer, type:
"costmap_2d::ObstacleLayer"}
- {name: voxel_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
global_costmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 3
publish_frequency: 0.2
static_map: true
rolling_window: false
resolution: 0.025
transform_tolerance: 1.0
map_type: costmap
static_layer:
enabled: false
costmap_common_params.yaml
inflation_layer:
cost_scaling_factor: 0.5
inflation_radius: 0.35 #0.45
robot_radius: 0.35
obstacle_layer:
obstacle_range: 2.5
raytrace_range: 3.0
max_obstacle_height: 1.6 #1.3
min_obstacle_height: 0.03
observation_sources: scan
scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0, inf_is_valid: true}
voxel_layer:
enabled: true
origin_z: 0.0
z_resolution: 0.05
z_voxels: 10
unknown_threshold: 0
#mark_threshold: 2
publish_voxel_map: true
combination_method: 1
observation_sources: output_points # from the 3D depth sensor
output_points:
data_type: PointCloud2
topic: /output_points
marking: true
clearing: true
obstacle_range: 1.90
raytrace_range: 2.00
min_obstacle_height: 0.00
max_obstacle_height: 3.00
mark_threshold: 3
observation_persistence: 2.0
Hi chengwei, Do you solve this problem? I also encounter this problem too. If you solve it, can you share the answer?
Thanks a lot
Hi, Simon, I also in solving this problem, and I think the question is caused by the narrow vision, and the fellow link might help. field of vision
Hi chengwei, have you try map_type parameter to "voxel"?
I don't have this test.Maybe this is the problem. You cloud have a test, and if you solve the problem,please tell me.
map_type: voxel origin_z: 0.0 z_resolution: 0.1 z_voxels: 10 unknown_threshold: 10 mark_threshold: 0 publish_voxel_map: true
This might help. You could have a test, and tell me the result. Good luck!