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Clear map around the robot

Hi, guys!

I'm using hector_mapping with an hokuyo UTM-30lx to generate a map for navigation but i'm having some issues that i need to solve before continuing with some other stuff.

At first, the environment is perfectly mapped but it can have some irregularities that are causing problems to the navigation of the robot. They are like noise due to some person passing or something like that and they stay in the map and don't erase. So the robot thinks it can't move forward or rotate due to an obstacle even if there is nothing in that place.

My question is if it's possible to "clear" this imperfections dynamically or update the map without this.