Why doesn't costmap clear the old obstacles outside the scanner scope?
I can't upload the snapshot. So hopfully I can make the issue clear.
When I was using turtlebot to navigate along the known map, the costmap would inflate the static map which is fairly well. The XTion scanner found the obstacles marked as yellow which was removed after a while. The scanner was not aware of this new situation because was outside the scanner scope at the moment. I setup a new destination on the map but ROS reported Failed to find the route on the map. It was caused by those obstacles who were in the way minutes ago.
I wonder why costmap doesn’t remove the out of date obstacles in a given period? In this situation how to make the ROS navigation stack figure out a route?