gmapping /map occupancy grid issue

asked 2020-06-30 08:55:54 -0500

jgauthier gravatar image

updated 2020-06-30 08:56:16 -0500


I am running the gmapping node with the map being created with a LIDAR. In rviz, I can see the laser scan, and I can also see the occupancy grid. It appears exactly as I would expect it. However, after the initial map generation if I add or remove an object in from the LIDAR it is neither removed nor added to the map.

If I yaw the laser to discover new areas in my room, those walls and objects are added quickly, but adding an object after the first scan doesn't.

In short: gmapping doesnt seem to respect dynamic objects being added or removed to the map. Is there a config option, or some other method I can use to enhance this?

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