Ask Your Question
1

Obstacles persist in costmap even after they move out

asked 2011-08-27 15:44:45 -0500

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.

edit retag flag offensive close merge delete

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 gravatar imageeitan ( 2011-08-29 08:32:20 -0500 )edit
It returns max_range readings once obstacles are gone.
PKG gravatar imagePKG ( 2011-08-29 09:30:46 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
2

answered 2011-08-31 04:24:45 -0500

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

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2011-08-27 15:44:45 -0500

Seen: 848 times

Last updated: Aug 31 '11