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Whats likely going on here is that costmap2d gets non valid data for clearing. This means that costmap gets valid data for the obstacle that is near, but if the obstacle moves away raytracing doesnt give back a valid (as costmap would like it to be formated) value for max range. If it only ocures sometimes it could be about relative reflectivity, which gets more of an issue with distance. In your picture it looks like there is no wall or similar behind the obstacles. You could try if costmap works with obstacles moving towards and backing up from the sensor and the issue only arrises if max_range comes into play.

You could try: - set paramter: inf_is_valid: true (put in line below raytrace_range:... in costmap_param.yaml) - next step would be to print the pointcloud and see if it fills "0.0" values for max range. You would then have to filter the pointcloud and transformint the 0.0´s to >obstacle_range and <raytrace_range. <a="" href="http://wiki.ros.org/point_cloud_filtering">There is a ros package for this out there, should be easy fo find.