sonar data as pointcloud2 be added in obstacle_layer, but costmap cannot update immediately
sonar data as pointcloud2 be added in obstacle_layer, but costmap cannot update , in the mean time , the pointcloud2 already update
anyone can help me, thanks
observation_sources: laser_sensor sonar_sensor
laser_sensor:
data_type: LaserScan
topic: /scan
marking: true
clearing: true
# min_obstacle_height: 0.25
# max_obstacle_height: 0.35
rgbd_sensor:
data_type: PointCloud2
topic: /camera/depth/points_filtered
marking: true
clearing: false
# min_obstacle_height: 0.0
# max_obstacle_height: 0.15
sonar_sensor:
data_type: PointCloud2
topic: /sonar_cloudpoint
marking: true
clearing: true
expected_update_rate: 0.0
observation_persistence: 0.0
min_obstacle_height: 0.0
max_obstacle_height: 0.30
# for debugging only, let's you see the entire voxel grid
Hello Sir, were you able to get it solve? I am also encountering this similar issue!
hi,did you solve the problem?