Clear obstacles resulting from skewed LaserScan data
I recently stumbled upon a strange behavior my robot is showing while rotating. Now, when it rotates I am capable of observing two strange things (visualized using rviz).
- LaserData is always displayed slightly delayed. Meaning, the RobotFootprint is refreshed quick (almost real-time) while the LaserData is not.
- When the rotation of the robot stops the rotation of the visualized RobotFootprint is stopping as well. Unfortunately this is not the case with the LaserData. LaserData will continue to follow the rotation for at least a few frames and then suddenly jump back matching the end pose.
While on first sight this might just seem to be some kind of visualization problem it really affects path planning. For a better understanding assume the robot stands in front of an opened door and rotates to the left. The laser scans representing the right side of the door frame keep moving to the left. In the end they are right in the middle of the door yielding obstacles preventing my robot to plan any path through that door.
The only issue that came to my mind that could lead to such a behavior is the following:
- Some problem with publishing frequencies
Any suggestion is appreciated. I will update my question as soon as someone comes up with any idea and post additional information.
(Our Kinect PointCloud is fine. No delay, no jumps in between two frames)
