Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

What map_type do you use in your costmap? It sounds as you are using "costmap", which is a 2D model of the world. With your sensor configuration you might want to model your world in 3D. Using "voxel" as the map_type will achieve that.

The problem you're observing is related to the raytracing the costmap is doing. When receiving a new observation, the costmap is clearing all fields/voxels between the camera origin and each observed obstacle. A 2D costmap contains no height information, however, and therefor cannot know that the laserscanner is in fact not able to see the top of the chair.

See http://www.ros.org/wiki/costmap_2d#VoxelCostmap2D for details.

Using two costmaps, one for each sensor, might also work. However you would have to modify move_base and/or the local and global planners to do this.

cheers Dariush