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Clear map around the robot [closed]

asked 2016-02-16 13:18:43 -0600

andrefc gravatar image

Hi, guys!

I'm using hector_mapping with an hokuyo UTM-30lx to generate a map for navigation but i'm having some issues that i need to solve before continuing with some other stuff.

At first, the environment is perfectly mapped but it can have some irregularities that are causing problems to the navigation of the robot. They are like noise due to some person passing or something like that and they stay in the map and don't erase. So the robot thinks it can't move forward or rotate due to an obstacle even if there is nothing in that place.

My question is if it's possible to "clear" this imperfections dynamically or update the map without this.

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Closed for the following reason the question is answered, right answer was accepted by andrefc
close date 2016-04-12 10:37:01.586730

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are you creating the map and then navigating, or doing both at the same time?

Procópio gravatar imageProcópio ( 2016-02-25 04:03:22 -0600 )edit

i'm doing both at the same time

andrefc gravatar imageandrefc ( 2016-02-25 05:01:08 -0600 )edit

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answered 2016-02-25 08:03:47 -0600

Procópio gravatar image

It would help if you also posted your costmaps configurations.

Normally, when you setup your costmap layers, you can also choose the combination method which is how you are going to combine that layer (the laser one in your case) with the "master costmap". Setting this parameter to 0 will make your "obstacle layer" to overwrite the "static_map layer", clearing obstacles that are not detected by the laser scan.

for example:

 plugins: 
        - {name: static_map,       type: "costmap_2d::StaticLayer"}
        - {name: obstacles,        type: "costmap_2d::VoxelLayer"}
    publish_frequency: 1.0
    obstacles:
        observation_sources: base_scan
        combination_method: 0
        base_scan: {data_type: LaserScan, sensor_frame: /base_laser_link, clearing: true, marking: true, topic: /base_scan}

check slide 16 here for more info on that.

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Asked: 2016-02-16 13:18:43 -0600

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Last updated: Feb 25 '16