Why does the Global planner in connection with amcl not create a new plan when a new obstacle is added in gazebo?

edit

Hello,

i use ros kinetic and the husky robot (version 0.3.6). I have created a map with the GlobalPlaner, teb_local_planer and gmapping. Then I used the map together with amcl (1.14.7) and without gmapping. I can set a goal in rviz and the robot goes there without problems. When I add an obstacle in gazebo, the laser detects it, but the GlobalPlanner does not generate a new plan and the Husky drives against the obstacle. I could see that the new obstacle did not appear in the global costmap. As far as I understand the global costmap uses the created map and there the new obstacle does not exist, so it is not shown in the global costmap. I thought amcl automatically takes care to avoid such obstacles. I don't know where my mistake is...

Can someone explain to me why GlobalPlanner does not create a new path? If you need more information please let me know.

Many thanks in advance!

costmap_common:

robot_base_frame: base_link
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.24, -0.22], [-0.24, 0.22], [0.24, 0.22], [0.24, -0.22]]
footprint_padding: 0.01
transform_tolerance: 0.3
recovery_behavior_enabled: false
resolution: 0.1

obstacles_laser:
  observation_sources: scan
  scan:
    data_type: LaserScan
    topic: scan
    marking: true
    clearing: true
    inf_is_valid: true

inflation:
  cost_scaling_factor: 2.5
  inflation_radius: 0.3

static:
  map_topic: /map
  subscribe_to_updates: true

local_costmap:

local_costmap:
  global_frame: /odom
  rolling_window: true
  static_map: false
  width: 4
  height: 4
  update_frequency: 3.0
  publish_frequency: 0.0  
  plugins:
  - {name: obstacles_laser,           type: "costmap_2d::ObstacleLayer"}
  - {name: inflation,                 type: "costmap_2d::InflationLayer"}

global_costmap:

global_costmap:
  global_frame: /map
  static_map: true
  rolling_window: false
  update_frequency: 1.0
  publish_frequency: 0.1  
  plugins:
  - {name: static,                  type: "costmap_2d::StaticLayer"}
  - {name: inflation,               type: "costmap_2d::InflationLayer"}

teb_local_planner:

TebLocalPlannerROS:

 odom_topic: /odometry/filtered
 map_frame: /map

 # Trajectory

 teb_autosize: True
 dt_ref: 0.3
 dt_hysteresis: 0.1
 global_plan_overwrite_orientation: True
 max_global_plan_lookahead_dist: 3.0
 feasibility_check_no_poses: 0

 # Robot

 max_vel_x: 0.4
 max_vel_x_backwards: 0.2
 max_vel_theta: 0.3
 acc_lim_x: 1.0
 acc_lim_theta: 0.2
 min_turning_radius: 0.0
 footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
   type: "polygon"
   vertices: [[-0.24, -0.22], [-0.24, 0.22], [0.24, 0.22], [0.24, -0.22]] # for type "polygon"

 # GoalTolerance

 xy_goal_tolerance: 0.2
 yaw_goal_tolerance: 0.1
 free_goal_vel: False

 # Obstacles

 min_obstacle_dist: 0.1
 include_costmap_obstacles: True
 costmap_obstacles_behind_robot_dist: 1.0
 obstacle_poses_affected: 30
 costmap_converter_plugin: ""
 costmap_converter_spin_thread: True
 costmap_converter_rate: 5

 # Optimization

 no_inner_iterations: 5
 no_outer_iterations: 4
 optimization_activate: True
 optimization_verbose: False
 penalty_epsilon: 0.1
 weight_max_vel_x: 2
 weight_max_vel_theta: 1
 weight_acc_lim_x: 1
 weight_acc_lim_theta: 1
 weight_kinematics_nh: 1000
 weight_kinematics_forward_drive: 50
 weight_kinematics_turning_radius: 1
 weight_optimaltime: 1
 weight_obstacle: 50
 weight_dynamic_obstacle: 10 # not in use yet

 # Homotopy Class Planner

 enable_homotopy_class_planning: False
 enable_multithreading: True
 simple_exploration: False
 max_number_classes: 4
 roadmap_graph_no_samples: 15
 roadmap_graph_area_width: 5
 h_signature_prescaler: 0.5
 h_signature_threshold: 0.1
 obstacle_keypoint_offset: 0.1
 obstacle_heading_threshold: 0.45
 visualize_hc_graph: False

amcl_launch file:

<?xml version="1.0"?>
<launch>
     <arg name="use_map_topic" default="true"/>
     <node pkg="amcl" type="amcl" name="amcl" output="screen">
        <param name="laser_max_range" value="10" />
        <param name="use_map_topic" value="$(arg use_map_topic)"/>
        <param name="base_frame_id" value="base_link"/> 
        <param name="gui_publish_rate" value="5.0"/> <
        <param name="kld_err" value ...