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local_cosmap remark but can't clear

asked 2017-04-07 00:27:39 -0500

science00000 gravatar image

Hi,
I create 2 laser scan by deepth_image_tolaser, one is middle and one is lower z=2-30cm.
when I insert or remove object:
- glocal_costmap is clean and mark as obstacle
- local_costmap is remark obstacle but can't clean


This is my cosmap config.
footprint: [ [0.18, 0.18], [-0.18, 0.18], [-0.18, -0.18], [0.18, -0.18] ]

map_type: voxel

obstacle_layer:
enabled: true
max_obstacle_height: 1.2
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
unknown_threshold: 15
mark_threshold: 0
combination_method: 1
track_unknown_space: true #true needed for disabling global path planning through unknown space
obstacle_range: 2.5
raytrace_range: 0.18 #3
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
publish_voxel_map: false

observation_sources: scan scan_low bump
scan:
data_type: LaserScan
topic: scan
observation_persistence: 0.0
marking: true
clearing: true
min_obstacle_height: 0.1
max_obstacle_height: 1.2

scan_low:
data_type: LaserScan
topic: scan_low
observation_persistence: 0.0
marking: true
clearing: true
min_obstacle_height: 0.2
max_obstacle_height: 0.7

bump:
data_type: PointCloud2
topic: mobile_base/sensors/bumper_pointcloud
observation_persistence: 6000.0
marking: true
clearing: false
min_obstacle_height: 0.0
max_obstacle_height: 0.15
# for debugging only, let's you see the entire voxel grid

inflation_layer:
enabled: true
cost_scaling_factor: 5.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.5 # max. distance from an obstacle at which costs are incurred for planning paths.

static_layer:
enabled: true
robot_radius: 0.18 # distance a circular robot should be clear of the obstacle (kobuki: 0.18)

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What is the purpose of "bump" topic? I see that it has marking: true, clearing: false in the config

DavidN gravatar image DavidN  ( 2017-04-09 21:43:39 -0500 )edit

Hi,
I'm using kobuki and astra camera for navigation
fake laser from depthimage_to_laser that is not reliable,
some time hit obstacle below view of astra
bump topic got data when hit then add to obstacle layer.
sorry the correct ismarking: true, clearing: true

science00000 gravatar image science00000  ( 2017-04-09 22:41:24 -0500 )edit

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answered 2018-06-20 12:43:43 -0500

Your raytrace range is super low, 0.18 m, my guess is you're not clearing due to this.

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I have solved by add lidar, that sensor is high accuracy and speed rate. Fake laser from image have a lot of issue when working in real-office.

video testing

science00000 gravatar image science00000  ( 2018-06-20 22:47:50 -0500 )edit

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Asked: 2017-04-07 00:27:39 -0500

Seen: 239 times

Last updated: Jun 20 '18