Robot is not Clearing Obstacles
My robot clears obstacles too late during autonomous navigation. And it doesn't clear any dynamic obstacles left behind during my robot's movement. I type rosservice call /move_base/clear_costmaps "{}" in terminal, but I want the robot to remove dynamic obstacles behind it while synchronously going. And when it starts to move autonomously, it moves by stopping, that is, it stops and moves a little while going to the target point during its movement. Do you have any suggestions regarding this?
dwa_local_params:
# Robot Configuration Parameters max_vel_x: 0.8 min_vel_x: -0.8
max_vel_y: 0.0
min_vel_y: 0.0
max_trans_vel: 0.5
min_trans_vel:0.0
max_rot_vel: 0.5
min_rot_vel: 0.0
# The velocity when robot is moving in a straight line
# max_vel_trans: 2.24
# min_vel_trans: 0.0
# max_vel_theta: 6.00
# min_vel_theta: 0.0
acc_lim_x: 0.8
acc_lim_y: 0.0
acc_lim_theta: 0.8
# Goal Tolerance Parametes
xy_goal_tolerance: 0.05
yaw_goal_tolerance: 0.017
latch_xy_goal_tolerance: false
# Forward Simulation Parameters
sim_time: 2.0
vx_samples: 30
vy_samples: 0
vth_samples: 60
controller_frequency: 5.0
# Trajectory Scoring Parameters
path_distance_bias: 32.0
goal_distance_bias: 20.0
occdist_scale: 0.02
forward_point_distance: 0.325
stop_time_buffer: 0.2
scaling_speed: 0.25
max_scaling_factor: 0.2
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.05
# Debugging
publish_traj_pc : true
publish_cost_grid_pc: true
global_costmap_params:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 10.0
publish_frequency: 10.0
transform_tolerance: 0.5
static_map: true
local_costmap_params:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 10.0
publish_frequency: 10.0
transform_tolerance: 0.5
static_map: false
rolling_window: true
width: 5
height: 5