Obstacle clearing problem [closed]

asked 2012-12-05 04:37:08 -0600

Peter Listov gravatar image

updated 2014-01-28 17:14:29 -0600

ngrennan gravatar image


I use kinect on my real robot and encountered with problem that costmap does not clear dynamic obstacles, if there's a lot of free space behind a obstacle (close to laser max_range). Phantom obstacles are smaller then the real one. In the picture there are my phantom steps as I crossed the long corridor four times in front of robot.

Bug picture

What I tried is to reset all obstacles in every mapUpdateLoop() step as recommended in this post

I added two strings

costmap_->resetMapOutsideWindow(wx, wy, 0, 0);
costmap_->updateWorld(wx, wy, observations, clearing_observations);

in the end of updateMap() function.

But that did not help much. I use ROS Electric.

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-08-31 20:38:30.704761


Not sure if you have seen this http://answers.ros.org/question/30014/costmap-clearing-of-obstacles/ Likelihood is the laser beam is not clearing that particular space, either because of the resolution (eg if beams are 1deg apart) or the readings are out of range (look for 0.0 data in your /scan)

weiin gravatar image weiin  ( 2012-12-05 13:26:00 -0600 )edit

Yes, I've seen this post and checked the topic /scan. There is no 0.0 / It returns 11.0 but max_range is 10.0/ And stil does not clear obstacles.

Peter Listov gravatar image Peter Listov  ( 2012-12-05 19:40:57 -0600 )edit