Rolling window in spatio temporal voxel layer

asked 2020-12-08 03:05:41 -0500

Dronist gravatar image

Hi, I'm using spatio temporal voxel layer as a plugin for move base. I want to use it as a local map which means that I want the costmap not to represent my complete environment, but only to represent my local surroundings (e.g. 1m x 1m around your robot). I want the costmap to move along with my robot and dropping obstacle information from the map as the robot moves too far from a given area. I set this parameters:

local_costmap: global_frame: odom
robot_base_frame: camera_link
rolling_window: true width: 0.1
height: 0.1 resolution: 0.025
static_map: false resolution: 0.15
publish_frequency: 1
update_frequency: 15.0 plugins: - {name: rgbd_obstacle_layer, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"}

But I don't get such behavior, is there support for such functionality in stvl? or voxel decay is what determines the voxel presence in situations like this?

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