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Hi Eitan,

Thank you for your assistance. Current system is very slow since costmap modules -I suppose- were not designed to consider a fully observable, offboard sensing and computing multi-agent platform like this one.

To be more hacky about clearing the costmap, I dig into the costmap source code. Since the current system with five controllable nodes can achieve at most 30Hz refresh rate, which is half of what it is supposed to be, and we cannot call a service due to the problem you've mentioned, and it will not be that reasonable to make the system spend extra effort on clearing operations, I will clear the map at each updateMap operation.

It seems Costmap2DROS::resetMapOutsideWindow method does what I'ld like to do. That is, having a rolling window on top of each robot and considering only the latest sensor observation but discarding whole history, clearing everything at each iteration.

But I don't want to crash other things in dwa_local_planner. Could you please guide me what is the most proper line that I've to insert resetMapOutsideWindow.

My initial solution is in costmap_2d_ros.cpp line 653:

costmap_->resetMapOutsideWindow(wx, wy, 0, 0);
costmap_->updateWorld(wx, wy, observations, clearing_observations);

It did work indeed, please see this video, but I'm not sure if it's gonna cause any trouble in dwa_local_planner or other parts of the ros::navigation software that I use for this application.

Thanks a lot for your assistance..

Hi Eitan,

Thank you for your assistance. Current system is very slow since costmap modules -I suppose- were not designed to consider a fully observable, offboard sensing and computing multi-agent platform like this one.

To be more hacky about clearing the costmap, I dig into the costmap source code. Since the current system with five controllable nodes can achieve at most 30Hz refresh rate, which is half of what it is supposed to be, and we cannot call a service due to the problem you've mentioned, and it will not be that reasonable to make the system spend extra effort on clearing operations, I will clear the map at each updateMap operation.

It seems Costmap2DROS::resetMapOutsideWindow method does what I'ld like to do. That is, having a rolling window on top of each robot and considering only the latest sensor observation but discarding whole history, clearing everything at each iteration.

But I don't want to crash other things in dwa_local_planner. Could you please guide me what is the most proper line that I've to insert resetMapOutsideWindow.

My initial solution is in costmap_2d_ros.cpp line 653:

costmap_->resetMapOutsideWindow(wx, wy, 0, 0);
costmap_->updateWorld(wx, wy, observations, clearing_observations);

It did work indeed, please see this video, but I'm not sure if it's gonna cause any trouble in dwa_local_planner or other parts of the ros::navigation software that I use for this application.

Thanks a lot for your assistance..