Meaning of costmap_2d observation_persistence parameter? [closed]

asked 2012-06-06 09:54:20 -0500

mkoval gravatar image

In the documentation for costmap_2d's sensor parameters, I saw this parameter:

~<name>/<source_name>/observation_persistence (double, default: 0.0)

  • How long to keep each sensor reading in seconds. A value of 0.0 will only keep the most recent reading.

I can't find any other documentation that mentions this parameter. Even with the default value of 0.0, obstacles persist until they are cleared (either manually or by a sensor with clear: true). What is the meaning of this parameter? How choose an appropriate value?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-03-22 13:38:25.781091


Why is this question closed? I think it is quite relevant and just because it is old does not mean it is outdated. Actually I have exactly the same question right now.

Felix Widmaier gravatar image Felix Widmaier  ( 2018-01-17 03:25:52 -0500 )edit

Yup. I also have the same exact question. This parameter is broken. Setting it to 0 does not only keep keep the most recent reading.

psammut gravatar image psammut  ( 2018-01-22 17:06:18 -0500 )edit

Since this is closed, I asked a new question.

Felix Widmaier gravatar image Felix Widmaier  ( 2018-01-23 02:08:52 -0500 )edit