kinect is not clearing the local map

asked 2020-01-29 04:53:33 -0500

vishrut gravatar image

updated 2020-01-29 04:55:11 -0500

hello everyone, i got struck with this problem that i am using kinect for pointcloud data but the issue rises here is that it is marking obstacles but not clearing them.here is my common_cost_map.yaml,global and local.yaml file and also i am using openni package COMMON COST_MAP.YAML footprint: [[0.23,0.18], [0.21,-0.14], [-0.14,0.14], [-0.14,-0.14]]
footprint_padding: 0.01 robot_radius: 0 robot_base_frame: base_link update_frequency: 10.0 publish_frequency: 3.0 transform_tolerance: 0.2 resolution: 0.05

**obstacle_range: 3.5 #5.5 raytrace_range: 3.0 #6.0

static:** map_topic: map subscribe_to_updates: true obstacles_laser: observation_sources: laser kinect laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, inf_is_valid: true} kinect: {data_type: PointCloud2, clearing: true, marking: true, topic: camera/depth_registered/points , inf_is_valid: true} inflation: inflation_radius: 2.58 cost_scaling_factor: 5.0

GLOBAL_COST_MAP.yaml

global_frame: map rolling_window: false track_unknown_space: true update_frequency: 10.0 plugins: - {name: static, type: "costmap_2d::StaticLayer"} - {name: obstacles_laser, type: "costmap_2d::VoxelLayer"} - {name: inflation, type: "costmap_2d::InflationLayer"}

LOCAL_COSTMAP.yaml

**global_frame: odom rolling_window: true update_frequency: 10.0 plugins:

  • {name: inflation, type: "costmap_2d::InflationLayer"}
  • {name: obstacles_laser, type: "costmap_2d::ObstacleLayer"}**

please help !!! thank you

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