Obstacles persist in costmap even after they move out
I am running hokuyo laser and move_base on a physical robot, and am running rviz to monitor the obstacles. If I introduce an obstacle in front of the robot, costmap_2d sees raw & inflated obstacles, and shows them as coloured cells in rviz. If I move the obstacle away & out of the laser range (say to the left) , the cells corresponding to the obstacle move to the left and stay there (at the left, within the laser range and within the costmap). I would have expected these cells to get cleared of obstacles.
Which parameter am I getting wrong? My costmap_common_params are the same as here . I can include more data or screenshots as needed.
Comments
Does your laser see points behind where the obstacles were previously that it can use to raytrace? Or does your laser return max_range readings for that space once the obstacles are gone?
eitan
(
2011-08-29 08:32:20 -0500
)edit
It returns max_range readings once obstacles are gone.
PKG
(
2011-08-29 09:30:46 -0500
)editadd a comment
