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observation_persistence in global costmap

asked 2017-03-15 00:07:15 -0500

j_salfity gravatar image

What is the equivalent variable in ROS Indigo for observation_persistence in the costmap_2d obstacle layer that is in ROS Hydro?

I'm not finding observation_persistence in ROS Indigo

Thanks!

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answered 2017-03-26 10:42:20 -0500

David Lu gravatar image

It's still there in Indigo. Where aren't you finding it?

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First, thanks for the response, David! Yea, I'm really confused, because I saw it in the source files. I didn't see it when I listed out rosparam get /move_base I tried adding it to the param global_costmap/scan/observation_persistence, but didn't see it actually working. Am I lost somewhere?

j_salfity gravatar image j_salfity  ( 2017-03-27 10:50:37 -0500 )edit

It's not a dynamic parameter, so its default value is not loaded into the parameter sever. Not sure why setting it did not work for you.

David Lu gravatar image David Lu  ( 2017-03-27 15:07:35 -0500 )edit

Interesting, can you think of a test to see if its working correctly? What is the way you would set it? The way I'm testing is if the obstacles from human leg scans are being removed, but they are for sure staying in the global_costmap. Ultimately, disrupting the global planner.

j_salfity gravatar image j_salfity  ( 2017-03-27 15:39:02 -0500 )edit

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Asked: 2017-03-15 00:07:15 -0500

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Last updated: Mar 26 '17