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2017-03-14 02:48:53 -0500 commented question When using navigation, map and global map couldn't delete obstacles

Did anyone have idea for this question? Thank you for your help.

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2017-03-07 05:25:34 -0500 asked a question When using navigation, map and global map couldn't delete obstacles

Hello,

I'm new in ROS, and I'm trying to use navigation with turtlebot.

My ROS and Ubuntu version as following:

Ubuntu: 14.04 
ROS: indigo

Question 1:

I run my launch file ($ roslaunch turtlebot_gazebo turtlebot_navigation.launch), and use "2D Nav Goal" of rviz to navigate, when I removed the wall of obstacle, I found the map and global map couldn't delete obstacles.

gazebo comparison

rviz comparison

How could I delete the obstacle on rviz ?

I had modified the parameters of the following file, but it's no use.

costmap_common_params.yaml

obstacle_range: 5.5
  raytrace_range: 10.0

global_costmap_params.yaml

   global_frame: /odom
   update_frequency: 20.0
   publish_frequency: 20.0
   static_map: false

local_costmap_params.yaml

   update_frequency: 20.0
   publish_frequency: 20.0

Question 2:

From the rviz map, gmapping seems not handled well in the loop closure, is there any parameters need to change ?

rviz result

My launch file and move_base configuration as following:

turtlebot_navigation.launch:

<launch>

<!-- gazebo world -->
  <arg name="world_file"  default="$(env TURTLEBOT_GAZEBO_WORLD_FILE)"/>

  <arg name="base"      value="$(optenv TURTLEBOT_BASE kobuki)"/> <!-- create, roomba -->
  <arg name="battery"   value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/>  <!-- /proc/acpi/battery/BAT0 --> 
  <arg name="gui" default="true"/>
  <arg name="stacks"    value="$(optenv TURTLEBOT_STACKS hexagons)"/>  <!-- circles, hexagons --> 
  <arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>  <!-- kinect, asus_xtion_pro --> 

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="use_sim_time" value="true"/>
    <arg name="debug" value="false"/>
    <arg name="gui" value="$(arg gui)" />
    <arg name="world_name" value="$(arg world_file)"/>
  </include>

  <include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
    <arg name="base" value="$(arg base)"/>
    <arg name="stacks" value="$(arg stacks)"/>
    <arg name="3d_sensor" value="$(arg 3d_sensor)"/>
  </include>

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>

  <!-- Fake laser -->
  <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
  <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
        args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
    <param name="scan_height" value="10"/>
    <param name="output_frame_id" value="/camera_depth_frame"/>
    <param name="range_min" value="0.45"/>
    <remap from="image" to="/camera/depth/image_raw"/>
    <remap from="scan" to="/scan"/>
  </node>

  <!-- open rviz -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot_rviz_launchers)/rviz/navigation.rviz"/>

  <!-- open gmapping -->
  <include file="$(find turtlebot_navigation)/launch/includes/gmapping.launch.xml"/>

  <!-- Move base -->
  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>

</launch>

costmap_common_params.yaml

max_obstacle_height: 0.60  # assume something like an arm is mounted on top of the robot

# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
robot_radius: 0.20  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]]  # if the robot is not circular

map_type: voxel

obstacle_layer:
  enabled:              true
  max_obstacle_height:  0.6
  origin_z:             0.0
  z_resolution:         0.2
  z_voxels:             2
  unknown_threshold:    15
  mark_threshold:       0
  combination_method:   1
  track_unknown_space:  true
  obstacle_range: 5.5
  raytrace_range: 10.0
  origin_z: 0.0
  z_resolution: 0.2
  z_voxels: 2
  publish_voxel_map: false
  observation_sources:  scan bump
  scan:
    data_type: LaserScan
    topic: scan
    marking: true
    clearing: true
    min_obstacle_height: 0.25
    max_obstacle_height: 0.35
  bump:
    data_type: PointCloud2
    topic: mobile_base/sensors/bumper_pointcloud
[hide preview]
    marking: true
    clearing ...
(more)
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