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costmap clearing

asked 2012-03-01 22:24:25 -0600

jrcapriles gravatar image

updated 2014-01-28 17:11:33 -0600

ngrennan gravatar image


I'm working with the navigation stack and I found some issues in the costmap clearing. I have one laser and some sonars and I use all of them to build the costmap. With the laser all works fine (the marking and clearing is done ok) with my sonars instead some of the obstacles remains in the costmap even if the sonar is publishing max_range. Each sonar is referenced to base link while the laser is refereced to base_laser_link in the costmap_common_params.yaml:

    transform_tolerance: 0.2
    obstacle_range: 2.0
    raytrace_range: 2.5

    observation_sources:  base_scan  sonar_cloud 

    base_scan: {sensor_frame: base_laser_link, data_type: LaserScan, topic:/base_scan_throttle , expected_update_rate: 0.3,
 observation_persistence: 0.0, marking: true, clearing: true, min_obstacle_height: -0.08, max_obstalce_height: 2.0}

    sonar_cloud: {sensor_frame: base_link, data_type: PointCloud, topic: /sonar_cloud, expected_update_rate: 0.3, 
observation_persistence: 0.4, marking: true, clearing: true, min_obstacle_height: 0.0, max_obstalce_height: 2.0}
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answered 2012-03-02 03:01:22 -0600

DimitriProsser gravatar image

I think you have to override the marking and clearing parameters for each sensor.

base_scan: {sensor_frame: front_laser,
        data_type: LaserScan,
        topic: /scan,
        expected_update_rate: 0.4,
        observation_persistence: 0.0,
        marking: true,
        clearing: true,
        min_obstacle_height: -0.10,
        max_obstacle_height: 2.0,
        obstacle_range: 15.0,
        raytrace_range: 15.0}
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Ohh good idea, I hadn't thought about it!!! I will try it and let you know the results! thanks!

jrcapriles gravatar image jrcapriles  ( 2012-03-02 03:39:20 -0600 )edit

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Asked: 2012-03-01 22:24:25 -0600

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Last updated: Mar 02 '12