What is the best way to clear robot elements from costmap or laserScan data
I have big robot with 360-degree LIDAR. LIDAR is set in a way, that some robot construction elements are on the LaserScan data. Thus they are at costmap. So robot become an obstacle for itself :-)
I think, I should be common problem, but I don't know the simple way to address this. Should I substitute LaserScan values for certain angles, at witch it sees itself to inf? Or I must separate 1 360-degree scan to 4 separate scans, that eliminating the problem angles? Or I need in some way configure costmap? Actually, robot elements are inside footprint and must be cleared?