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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 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