costmap updating issue

asked 2016-05-30 08:27:48 -0500

MariaKrgr
20 ●10 ●11 ●14

updated 2016-05-30 08:32:57 -0500

Hello, I use nav2d package for SLAM on a real robot. All of a sudden costmap building has an issue while updating.. I have uploaded a .gif because it's difficult to describe it:

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It's like the costmap is correct in a small square around the robot, and beyond that square the costmap goes bad.

The weird thing is that I didn't have that issue before some days, and I cannot find which of the things that I changed broke the costmap! I guess it's a parameter but I cannot detect it.

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The basic map in /map topic is correct, so I guess it's not an odometry issue, but a parameter in costmap.yaml maybe or in another .yaml file...

MariaKrgr ( 2016-05-30 08:34:13 -0500 )edit

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answered 2016-05-31 07:46:55 -0500

Sebastian Kasperski

1658 ●7 ●18 ●35

This might still be due to odometry drift. The global map stays intact because it uses scan-matching to correct the robot's pose, but the local costmap depends alone on the odometry. The local map is corrected where it is updated by new measurements, but keeps distorted everywhere else. Up to this point I would say this is at least expected behavior in the presence of odometry drift. Have you tried moving the robot further away from this start area to see if this issue persists?

What actually worries me is how your local and global maps seem to be badly aligned. There are obstacles in the global map, that are not in your local map, which should not be the case. Are there lots of dynamic obstacles (people) around your robot?

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it does a similar thing even in the simulation, where I take odometry from V-REP simulator..

MariaKrgr ( 2016-06-02 04:58:42 -0500 )edit

I uploaded a

.gif

from simulation

MariaKrgr ( 2016-06-02 05:02:08 -0500 )edit

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