Why the clearing stays permanent in obstacle costmap, when 0 (overwrite) combination method is applied?
Hello !
I am clearing some layers markings by a layer with a detected object to be cleared and the problem is that its' clearing stay permanent even when the object disappeares.
So here more detailed information:
The goal:
- Erase any markings on the costmap under x_object when it is detected
- Continue marking with laser layers when the x_object is disappeared or was not present
The actual results:
- The laser layers mark the obstacles. Perfect ! =)
- The x_object detected and overwrites (erases) the markings. Perfect ! =)
- The x_object disappeares (goes away) Perfect ! =)
- The laser layers do not mark anymore where was detected the x_object. Bad ! =(
I tried different observation_persistence values:
- 0.0 to have only recent measurements (expected them to be available only during one cycle of observation)
- values > 0.0 to keep the observation during some time and refresh the clearings after
Question : How do you think is it possible to have the clearings present only when the object is detected ?
Code:
x_obstacle_clearing_layer:
enabled: true
observation_sources: x_object_clearing_cloud
combination_method: 0
x_object_clearing_cloud:
sensor_frame: base_footprint
data_type: PointCloud2
topic: /detect_x_object/object
expected_update_rate: 2.0
observation_persistence: 1.0
marking: false
clearing: true
raytrace_range: 5.3
obstacle_range: 4.8
min_obstacle_height: -2.0
max_obstacle_height: 2.0
Thank you !
P.S.: Working with ROS Kinetic