Shadow obstacles
Hi, apart from the obstacles that the robot is detecting with the sensors, there exists other obstacles with a lower alpha scale (rviz visualization) that were previous obstacles but the robot do not remove them completely. These previous obstacles affect the path planing as the same way of the real obstacles. Is there any way to remove them?
Image: https://ibb.co/BcKVXN1
That looks like two costmaps overlaid one on the other (e.g., local on top of global). Please confirm whether that is the case. If one of them is not clearing obstacles with new sensor data as you expect, you may need to change your costmap configuration.
You are right, I change the parameter 'publish_frequency' from the global_costmap.yaml from 3.0 to 0.0 and it is solved. Thanks.