How does spatio_temporal_voxel_layer mark free, unknown, objects?
I am attempting to implement the spatio temporal voxel layer as a solution that can better handle uneven terrain compared to just sending costmap the raw point clouds created from lidar data. However, I am also attempting to use "explore_lite" as a proof of concept type exploration. Explore_lite does not seem to be getting the same marking of free/unknown as what the base costmap_2d is giving. I have attached a screenshot trying to illustrate better what I am talking about. Notice the blue outline that follows only the path the robot has already taken, showing me that only the area the robot has traveled being marked as free? Based on the color scheme as seen through Rviz, it looks to me like unknown and free are flip flopped?
Platform: Ubuntu 18.04 LTS Running in Docker
ROS Version: Melodic
Spatio_Voxel installed via binaries using apt
