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Obstacles persist in costmap even after they move out

asked 2011-08-27 15:44:45 -0600

PKG gravatar image

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.

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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 gravatar image eitan  ( 2011-08-29 08:32:20 -0600 )edit
It returns max_range readings once obstacles are gone.
PKG gravatar image PKG  ( 2011-08-29 09:30:46 -0600 )edit

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answered 2011-08-31 04:24:45 -0600

DimitriProsser gravatar image

It could be your "observation_persistence: 2.0" parameter. If you set that value to zero, the costmap will only account for the most recent observation data.

~ Brian

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Asked: 2011-08-27 15:44:45 -0600

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Last updated: Aug 31 '11