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obstacles are not removed from the costmap

asked 2015-07-25 17:49:01 -0500

P Tiago P gravatar image

updated 2015-08-06 11:17:07 -0500

Hi,

I've searched and i found similar questions, but no conclusions.

scenario:

ROS: Indigo

Laser: XV11

The robot is stable not moving, i move near the robot, and the map is updated with an obstacle, i move away, and the obstacle is not removed (unless the move_base is restarted), the laser is clear, the obstacle is still there plus some yellow dots.

rviz snapshots:

initial: https://dl.dropboxusercontent.com/u/1...

obstacle present: https://dl.dropboxusercontent.com/u/1...

obstacle gone: https://dl.dropboxusercontent.com/u/1...

obstacle gone (laser only): https://dl.dropboxusercontent.com/u/1...

If i go again to the front of the robot the obstacle area get's bigger, and stays there even when i move away.

Any clues ?

Regards,

Tiago

Update1: (costmap parameters)

==========================================================

robot_radius: 0.22545

inflation_layer:
  enabled: true
  cost_scaling_factor: 10.0
  inflation_radius: 0.25

obstacle_layer:
  enabled: true
  obstacle_range: 2.5
  raytrace_range: 3.0
  max_obstacle_height: 0.6
  min_obstacle_height: 0.0
  observation_sources: scan_source
  scan_source:
    data_type: LaserScan
    topic: /xv11
    marking: true
    clearing: true
    expected_update_rate: 0.4
    observation_persistence: 0.0

==========================================================

local_costmap:
   plugins:
      - {name: sonar_source, type: "range_sensor_layer::RangeSensorLayer"}
      - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
      - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
   global_frame: /odom
   robot_base_frame: /base_footprint
   update_frequency: 3.0
   publish_frequency: 1.0
   static_map: false
   rolling_window: true
   transform_tolerance: 1.0
   map_type: costmap
   width: 6.0
   height: 6.0
   resolution: 0.01

==========================================================

global_costmap:
  plugins:
    - {name: sonar_source, type: "range_sensor_layer::RangeSensorLayer"}
    - {name: static_layer, type: 'costmap_2d::StaticLayer'}
    - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
    - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
  global_frame: /map
  robot_base_frame: /base_footprint
  update_frequency: 1.0
  publish_frequency: 0.0
  static_map: true
  rolling_window: false
  resolution: 0.01
  transform_tolerance: 1.0
  map_type: costmap
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Comments

We can't help without seeing your configuration files. please post the parameters for move base.

David Lu gravatar imageDavid Lu ( 2015-07-26 09:44:40 -0500 )edit

@David: Thanks for asking, I've updated the post.

P Tiago P gravatar imageP Tiago P ( 2015-07-26 11:24:44 -0500 )edit

I'm unclear what your third picture is showing. What does the costmap look like after you move away?

David Lu gravatar imageDavid Lu ( 2015-07-31 12:28:23 -0500 )edit

@David: I updated the screenshots

P Tiago P gravatar imageP Tiago P ( 2015-08-07 07:41:34 -0500 )edit

1 Answer

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answered 2015-08-07 13:07:21 -0500

David Lu gravatar image

It looks like you just have a single square filled in. This may be an effect of having not enough lasers or too high of a resolution. I imagine if the robot turns slightly, the obstacle will disappear.

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Asked: 2015-07-25 17:49:01 -0500

Seen: 642 times

Last updated: Aug 07 '15