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The right way to clear out the obstacle on costmap?

asked 2014-06-09 04:26:57 -0600

dalishi gravatar image

Hi all

I confronted a problem. In my application, I need to reset the pose of the robot now and then (by publish to the /initialpose for amcl), however, after I have reset the robot pose, the previous obstacles around the robot are still there on the costmap (global costmap and/or local?) which always resulted in no valid path found by the navfn global planner. I am asking what is the right way to clear out the obstacles on the costmap after I reset the pose of the robot? I am now using fuete.

Thank you everyone!

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answered 2014-06-09 08:14:26 -0600

dornhege gravatar image

I use the /move_base/clear_costmaps service.

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Thanks dornhege

dalishi gravatar image dalishi  ( 2014-06-09 22:28:23 -0600 )edit

will clear_costmaps service clears both static and dynamic obstacles or only dynamic obstacles (which are not there in the map) ?

Dharmateja Kadem gravatar image Dharmateja Kadem  ( 2016-06-09 13:49:29 -0600 )edit

@Dharmateja Kadem, you must configure the layers you want to clean, so it depends what layers you have and how you populated them. if you want more details, please ask a new question.

Procópio gravatar image Procópio  ( 2016-10-21 06:42:01 -0600 )edit

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Asked: 2014-06-09 04:26:57 -0600

Seen: 1,907 times

Last updated: Jun 09 '14