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Finally increasing the map update rate solved the problem. Now freespace is updated on every map update cycle and therefore immediately available!

Here is my gmapping.launch file:

Hope this helps you,

BR Daniel

Finally increasing the map update rate solved the problem. Now freespace is updated on every map update cycle and therefore immediately available!

Here is my gmapping.launch file:

<launch> <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">

  <param name="base_frame" value="base_footprint"/>
  <param name="map_frame" value="map"/>
  <param name="odom_frame" value="odom"/>
  <param name="map_update_interval" value="0.1"/>
  <param name="maxUrange" value="4.0"/>
  <param name="maxRange" value="5.0"/>
  <param name="sigma" value="0.05"/>
  <param name="kernelSize" value="1"/>
  <param name="lstep" value="0.05"/>
  <param name="astep" value="0.05"/>
  <param name="iterations" value="5"/>
  <param name="lsigma" value="0.075"/>
  <param name="ogain" value="3.0"/>
  <param name="lskip" value="0"/>
  <param name="srr" value="0.01"/>
  <param name="srt" value="0.02"/>
  <param name="str" value="0.01"/>
  <param name="stt" value="0.02"/>
  <param name="linearUpdate" value="0.01"/>
  <param name="angularUpdate" value="0.01"/>
  <param name="temporalUpdate" value="0.1"/>
  <param name="resampleThreshold" value="0.5"/>
  <param name="particles" value="1"/>

  <param name="xmin" value="-5.0"/>
  <param name="ymin" value="-5.0"/>
  <param name="xmax" value="5.0"/>
  <param name="ymax" value="5.0"/>
  <param name="delta" value="0.05"/>
  <param name="llsamplerange" value="0.01"/>
  <param name="llsamplestep" value="0.01"/>
  <param name="lasamplerange" value="0.005"/>
  <param name="lasamplestep" value="0.005"/>
</node>

</launch> Hope this helps you,

BR Daniel