how to track unknown space with nav2 & spatio temporal voxel layer

asked 2020-10-28 02:08:41 -0600

johnconn gravatar image

updated 2020-10-28 11:51:11 -0600

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 track_unknown_space to True, with unknown_cost_value set to 255

I also set unknown_cost_value to True in my spatio_temporal_voxel_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.

image description

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

edit retag flag offensive close merge delete