Hello ROS Community,

I'm seeing a problem where laser scans are exhibiting rotational "smearing" when marking the move_base costmaps. This results in "ghost" obstacles in both the global and local maps, and these have the potential to cause path planning to fail. Typically, these smearing effects are cleared out when subsequent scans detect free space, and so the issue does not always cause navigation to fail. However, it does sometimes cause sub-optimal behavior, such as a need to re-plan.

The robot spec:

• Kobuki base
• Raspberry Pi 2, running ROS Indigo / Ubuntu ARM
• Rhoeby Dynamics R2D LiDAR (@ 3 Hz scan rate)
• Navigation stack (gmapping, move_base)

In the below screenshot: observe the accumulated LaserScans (in white), the local costmap marked areas (in yellow), and the inflated obstacles (in blue). Notice the ghosting of the walls in the top-left part of the costmap (in yellow).

If I set "Decay Time" on the LaserScan topic in RViz to accumulate the scans, and then observe the LaserScan plot over the same time period as when the costmap smearing occurs: I see that there is no such smearing in the decayed LaserScan plot. So the errors in rotation only show up in the costmap, and not on the LaserScans themselves. How/why would that be happening? How is it possible for this difference to exist?

Another observation about this phenomenon is that the problem only occurs when the rotational velocity of the robot is a non-constant, eg. when beginning turning from stopped, or when slowing down from a turn which is in progress. So the problem is a transient one that occurs during theta acceleration. Also of note is the fact that there are no similar smearing effects in translation (robot accelerating along x/y).

The problem is:

• unique to theta
• only occurs during theta acceleration (or deceleration)
• does not seem to affect LaserScans themselves (as plotted in RViz)
• only appears on the move_base costmaps (global and local costmap)

The fact that theta acceleration must be non-zero, leads me to think the problem could be due to delays in the odom TF, perhaps with a root cause in the Kobuki. Is the Kobuki just slow to reflect changes in it's rotation? Perhaps the odom transform lags the actual robot rotation?

But why would this not also affect the "decayed" LaserScan data as plotted in RViz?

The fact that the LaserScan plot is not affected, leads me to think the error could be rooted in move_base, although I doubt it. Perhaps there is some delay in the uptake of changes in the TF? But why only on rotation?

Thanks for any comment.

ADDENDUM:

I've checked the TF frames, and it seems to look reasonable:

The frames utilized are:

The topic /laserdata is published in tf frame: baselaser (rigidly attached to base_footprint)

The topic /movebase/localcostmap/costmap is published in tf frame: odom

The Global frame is: map

local_costmap:

globalframe: odom robotbaseframe: /basefootprint

global_costmap:

globalframe: /map
robotbaseframe: /basefootprint

ADDENDUM 2:

I made the following change to obstacle_layer.cpp, as per the recommendation in answer 1 (tried 0.75 also):

// debug smearing: changes based on analysis by A. Hendrix 
// see http://answers.ros.org/question/231560/smearing-ghosting-of-laser-scan-in-move_base-costmap/
#if 1
      observation_notifiers_.back()->setTolerance(ros::Duration(0.34));
      ROS_WARN("@@@ Setting observation_notifiers_ tolerance to 0.34");
#else
      observation_notifiers_.back()->setTolerance(ros::Duration(0.05));
#endif

The trace:

process[move_base-7]: started with pid [13502]
[ INFO] [1460470261.939842115]: Reconfigure request : 0.800000 5.400000 1.000000 2.000000 1.500000
[ INFO] [1460470262.992933885]: Initialising nodelet... [kobuki_safety_controller]
[ INFO] [1460470263.414586645]: Kobuki initialised. Spinning up update thread ... [kobuki_safety_controller]
[ INFO] [1460470263.415913468]: Nodelet initialised. [kobuki_safety_controller]
[ INFO] [1460470265.514135603]: Using plugin "static_layer"
[ INFO] [1460470266.017338311]: Requesting the map...
[ INFO] [1460470266.258624717]: Resizing costmap to 544 X 576 at 0.050000 m/pix
[ INFO] [1460470266.356887790]: Received a 544 X 576 map at 0.050000 m/pix
[ INFO] [1460470266.402144769]: Using plugin "obstacle_layer"
[ INFO] [1460470266.446317321]:     Subscribed to Topics: scan bump
[ WARN] [1460470266.671768155]: @@@ Setting observation_notifiers_ tolerance to 0.34
[ INFO] [1460470267.148540550]: Using plugin "inflation_layer"
[ INFO] [1460470268.311201644]: Using plugin "obstacle_layer"
[ INFO] [1460470268.733313727]:     Subscribed to Topics: scan bump
[ WARN] [1460470268.898442998]: @@@ Setting observation_notifiers_ tolerance to 0.34
[ INFO] [1460470269.329662164]: Using plugin "inflation_layer"
[ INFO] [1460470270.321315914]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1460470270.357102684]: Sim period is set to 0.20
[ INFO] [1460470272.187904767]: Recovery behavior will clear layer obstacles
[ INFO] [1460470272.659158517]: Recovery behavior will clear layer obstacles
[ INFO] [1460470273.067576694]: odom received!

But the problem remains the same.