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dynamic obstacle problems with short range sensor

asked 2015-10-28 09:59:50 -0600

kevin.kuei.0321@gmail.com gravatar image

updated 2015-10-29 02:38:19 -0600

Hi all,

I got some problem in using move_base with short LaserScan sensor.

Here is my condition:

  • With short distance range sensor (xv11 sensor, max range is 6M)
  • With a static map and the map contains lots of open space
  • Now I put an obstacle in front of the robot. Yes, I saw the obstacle shown in costmap.
  • Then, I removed the above obstacle from gazebo.
  • I found the obstacle is still there in costmap. I think it's because the range sensor can not reach the edge of the map, so it got unknown readings for this area which I put an obstacle in previous step.

Any suggestion will be appreciated. Thanks!

Kevin Kuei

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what is your raytrace_range parameter set to in the costmap?

miguel gravatar imagemiguel ( 2015-10-28 11:20:30 -0600 )edit

raytrace_range=2.5 and obstacle_range=2.0, I put the obstacle at 1.5m in front and I saw the obstacle in costmap. Then, I removed the obstacle from gazebo. But the result is, the obstacle is still in costmap.

kevin.kuei.0321@gmail.com gravatar imagekevin.kuei.0321@gmail.com ( 2015-10-28 19:23:29 -0600 )edit

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answered 2015-11-01 20:32:13 -0600

kevin.kuei.0321@gmail.com gravatar image

Again, I will answer my own question.

I wrote a custom range filter, and this can be applied in obstacle observation sources in costmap_common_params.yaml The logic is simple, if the laser range is large enough or Inf or Nan, then rewrite it to be another value which is slightly larger than your "obstacle_range" value.

https://github.com/wennycooper/learni...

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Asked: 2015-10-28 09:59:50 -0600

Seen: 822 times

Last updated: Nov 01 '15