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What is "Rolling Window" used for?

asked 2016-01-11 20:14:46 -0500

Eric_ROS gravatar image

Hello~ all Recently I do some research about Robot Navigation. I'd like to find a way to save new map updated by Local Plan(Scan) while doing navigation. I found a interesting parameter "Rolling Window"...but no idea how to use it. Just know the definition as follows


http://wiki.ros.org/costmap_2d

~<name>/rolling_window (bool, default: false) Whether or not to use a rolling window version of the costmap. If the static_map parameter is set to true, this parameter must be set to false.


If "Rolling Window" is a parameter that user can do navigation and discover unknown area. Then we might can find some way to save the updated map. I tried to killl "amcl" node and run "slam_gmapping" independently. But...it's still failed cuz all new scanned info & static map will be cleaned.

Please share if you know... (1) what's the correct meaning of "rolling window" and how to use it (2) how to successfully saved new scanned info as a map file

Appreciation :)

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answered 2016-01-12 07:55:25 -0500

Sebastian Kasperski gravatar image

"Rolling window" means that you do not use the costmap to represent your complete environment, but only to represent your local surroundings (e.g. 5m x 5m around your robot). The costmap will then move along with your robot and will be updated by incoming sensor data.

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Does that mean if rolling_window=true the costmap represent only the local surroundings centering our robot?

akhilkathi gravatar imageakhilkathi ( 2017-06-09 04:33:37 -0500 )edit

Yes. Set to false to use it as a global map.

Sebastian Kasperski gravatar imageSebastian Kasperski ( 2017-06-12 02:14:12 -0500 )edit

Can I increase the size of rolling window to help the robot locate itself better?

LucYang gravatar imageLucYang ( 2018-03-29 19:42:52 -0500 )edit

No, rolling window maps are local maps and not used for localization.

Sebastian Kasperski gravatar imageSebastian Kasperski ( 2018-05-15 04:39:18 -0500 )edit

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Asked: 2016-01-11 20:14:46 -0500

Seen: 3,450 times

Last updated: Jan 12 '16