Hi,
I've searched and i found similar questions, but no conclusions.
scenario:
ROS: Indigo
Laser: XV11
The robot is stable not moving, i move near the robot, and the map is updated with an obstacle, i move away, and the obstacle is not removed (unless the move_base is restarted), the laser is clear, the obstacle is still there plus some yellow dots.
rviz snapshots:
initial:
https://dl.dropboxusercontent.com/u/17246489/costmap_start.png
obstacle present:
https://dl.dropboxusercontent.com/u/17246489/costmap_obst.png
no real obstacle, (obstacle still there), laserdata only : https://dl.dropboxusercontent.com/u/17246489/costmap_noobst_laser.png
If i go again to the front of the robot the obstacle area get's bigger, and stays there even when i move away.
Any clues ?
Regards,
Tiago
Update1: (costmap parameters)
==========================================================
robot_radius: 0.22545
inflation_layer:
enabled: true
cost_scaling_factor: 10.0
inflation_radius: 0.25
obstacle_layer:
enabled: true
obstacle_range: 2.5
raytrace_range: 3.0
max_obstacle_height: 0.6
min_obstacle_height: 0.0
observation_sources: scan_source
scan_source:
data_type: LaserScan
topic: /xv11
marking: true
clearing: true
expected_update_rate: 0.4
observation_persistence: 0.0
==========================================================
local_costmap:
plugins:
- {name: sonar_source, type: "range_sensor_layer::RangeSensorLayer"}
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
global_frame: /odom
robot_base_frame: /base_footprint
update_frequency: 3.0
publish_frequency: 1.0
static_map: false
rolling_window: true
transform_tolerance: 1.0
map_type: costmap
width: 6.0
height: 6.0
resolution: 0.01
==========================================================
global_costmap:
plugins:
- {name: sonar_source, type: "range_sensor_layer::RangeSensorLayer"}
- {name: static_layer, type: 'costmap_2d::StaticLayer'}
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
global_frame: /map
robot_base_frame: /base_footprint
update_frequency: 1.0
publish_frequency: 0.0
static_map: true
rolling_window: false
resolution: 0.01
transform_tolerance: 1.0
map_type: costmap
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