I am trying to get my robot to prefer navigating where its sensor stack has vision.

In my global and local costmap nodes, I set trackunknownspace to True, with unknowncostvalue set to 255

I also set unknowncostvalue to True in my spatiotemporalvoxel_layer node

When I launch rviz, my local costmap has the gray of unknown everywhere but my robot footprint. My global costmap has no such gray.

The two things I was expecting are:

• the gray unknown in my global costmap
• clearing of unknown space in my local costmap between the robot footprint and the pointcloud wall(I have a clearing sensor angled in this direction)

Neither of those things are happening for me.

Are there other params I need to set to get track unknown working in the global costmap?