dynamic obstacle problems with short range sensor
Hi all,
I got some problem in using move_base with short LaserScan sensor.
Here is my condition:
- With short distance range sensor (xv11 sensor, max range is 6M)
- With a static map and the map contains lots of open space
- Now I put an obstacle in front of the robot. Yes, I saw the obstacle shown in costmap.
- Then, I removed the above obstacle from gazebo.
- I found the obstacle is still there in costmap. I think it's because the range sensor can not reach the edge of the map, so it got unknown readings for this area which I put an obstacle in previous step.
Any suggestion will be appreciated. Thanks!
Kevin Kuei
what is your raytrace_range parameter set to in the costmap?
raytrace_range=2.5 and obstacle_range=2.0, I put the obstacle at 1.5m in front and I saw the obstacle in costmap. Then, I removed the obstacle from gazebo. But the result is, the obstacle is still in costmap.