local cost map not updated
Hi, All,
I am using a 6m laser range finder to generate local cost map. (Hokuyo URG). I found the the local cost map was not updated promptly.
what happens is that, whenever an obstacle occurs in the range. an inflated object is generated in the local cost map. however, after it disappears, the inflated object remains there for a very long time.
I have set the cost map update frequency to 10Hz. but it does not seems to help. any other suggestion?
I have an unverified postulation here. on the actual laser packets received, after the obstacle disappears, the range readings at that particular points becomes 0 or NaN. somehow cost_map_2D keeps the old data if the particular beam is 0.
thanks
ray
http://wiki.ros.org/costmap_2d#Markin...
I notice the error could be an anomaly in clearing process. somehow, the clearing part is not functioning.
below is my config file. can someone help me check it?
costmap_common_params.yaml
local_costmap_params.yaml
can you please also post the output of rostopic list ?
some more observations. if change the laser source to SICK long range laser LMS111, the cost map gets updated properly.
has it something to do with the resolution of the laser? what if the laser is not able to cover all the 5cmx5cm grid within the local cost map? does it cause residues on the local cost map?