I would like my autonomous robot to operate autonomously for long periods of time (e.g. several days or even weeks).
So far, I have used the navigation stack for navigation and mapping.
However, the static map created with gmapping and used by, for example, move_base does not remain up to date (as it is static).
For instance, when an obstacle that is part of the static map is removed this removal is not reflected in the static map. As a result, the global planner can subsequently sometimes plan suboptimal paths towards the global goal.
Consequently, I would like to know whether the navigation stack is recommended for long-term autonomous navigation.
Should I use other packages or is there a way to keep the navigation stack layered costmaps up to date in the long term?
Thank you!
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