Local costmap obstacles drifting into blind spot
I'm using a 270° lidar for the obstacle layer of my local costmap but some obstacles seems to drift into the blind spot of the lidar and so they can't be cleanned anymore. Because the robot is rectangular, some of those ghost obstacles get in collision with the footprint of the robot when turning.
I'm using a als_ros for the localisation and I use the wheel position as odometry.
Is there a way to clear obstacles that are not currently seen ?
I can't post an image yet so here is a link : https://ibb.co/W0LdVBF
costmap_common.yaml :
footprint_padding: 0.01
robot_base_frame: base_footprint
resolution: 0.05
obstacle_range: 4.0
raytrace_range: 8.0
static:
map_topic: /map
subscribe_to_updates: true
obstacles_laser:
observation_sources: laser
laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, sensor_frame: laser, inf_is_valid: true, observation_persistence: 0.0}
inflation:
inflation_radius: 0.30
costmap_local.yaml :
global_frame: odom
rolling_window: true
update_frequency: 6.0
publish_frequency: 3.0 # For visualization
transform_tolerance: 0.3
plugins:
- {name: obstacles_laser, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}