Hokuyo laser - Turtlebot costmap updation error
Hello people,
We have a turtlebot(kobuki base) and have connected Hokuyo laser to it following the instructions from these links.
Previously when we tested AMCL with Kinect (as available with the turtlebot), the indoor navigation was fine and the map was updated with dynamic obstacles(like person walking in front of it, sudden obstacle not available in map) introduced then and there, and the turtlebot was able to avoid them and reach the goal.
When we tried the same with Hokuyo laser, we were able to map the area using gmapping, do AMCL as well with it and the robot was able to reach the goal. But the robot was not able to update itself with dynamic obstacles introduced. It was able to see only the static mapped obstacles and couldn't avoid dynamic obstacles while reaching its goal. Not sure if any navigation parameters are to be modified. Could anyone please help on the same???
A solution that worked for me was to play with the "max_obstacle_height", "min_obstacle_height" and "z_origin" parameters
Will try out and let you know @medjo. And may i know the values you had assigned for those parameters?
In my costmap_common_params.yaml file, here are the values I assigned: max_obstacle_height: 0.6 (in the folowing fields: gobal, obstacle layer, and scan) min_obstacle_height: 0.40 (in scan) origin_z: 0.1 (in obstacle_layer) z_resolution: 0.2 (in obstacle_layer) z_voxels: 2 (in obstacle_layer)