I was using turtlebot to do navigation experiments based on `ROS_navigation` stack. **I found that the turtlebot was very hesitate when it met some obstacles in the front.** Even though the obstacle(which has been stayed there for a while) has been removed, the turtlebot still rotating at the place where it first see the obstacles.
Nevertheless, **the turtlebot would recover navigation after the inflated obstacle layer(displayed in the Rviz) was refreshed.** However, the time from the obstacles was removed to the inflated obstacle layer was refreshed would be **very long**(10-20 seconds).
**I want to make the delay much shorter.**
I noticed that there appears more yellow grid in the costmap if the obstacle stayed there for longer time. I noticed that it's the topic /move_base/local_costmap/costmap displayed as the inflated obstacles layer on the costmap.
My H&S Env. is:
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- Distro: ROS-Hydro
- Monitor/simulator: Rviz
- Sensor:RPLidar - 2D Laser scaner, 360 degree, 15Hz
- Driving Base: iRobot Roomba 620
- Controller: MiniPC running ubuntu 12.04, CPU 2.1GHz-Double Cores, Mem: 2G
My Question is:
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1. What's the relationship between move_base package and costmap_2D package
2. How does "/move_base" publish the topic "/move_base/local_costmap/costmap"
3. The time from the obstacles was removed to the inflated obstacle layer was refreshed would be very long(10-20 seconds). How to make the delay much shorter.
Thank you!!
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I appreciate any idea/knowledge shared for my puzzles!
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