useless costmap comming

asked 2020-11-23 04:43:24 -0600

932 ●201 ●254 ●280 http://vikatrobotics.com

Whenever i launch the move base and change the initial position of robot or after the robot moves. Their is some remainig costmap which are not valid. image description

For example in above winodw, their is extra costmap which is stopping the rviz to create a path to location across that.

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answered 2020-11-23 07:53:39 -0600

tryan
1421 ●96 ●26

It looks like your sensor data are not clearing the global cost map there. These ROS wiki pages will give you more information:

I recommend ensuring that the clearing parameter of your sensor(s) is set to true and your raytrace_range is large enough as in this example:

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
#robot_radius: ir_of_robot
inflation_radius: 0.55

observation_sources: laser_scan_sensor point_cloud_sensor

laser_scan_sensor: {sensor_frame: frame_name, data_type: LaserScan, topic: topic_name, marking: true, clearing: true}

point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}

One way to troubleshoot this issue is to move the robot closer to the blocked area and see if short-range sensor data clears it. If these parameters don't fix the issue, please, post your configuration files and the result of moving closer to the blockage.

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Maybe publish_frequency is set to 0. Try increasing it to 5.0 or something like that.

miura ( 2020-11-23 09:17:48 -0600 )edit

Ok got it. but when i change the initial position of the robot from rviz since the laserscan is unable to find those costmaps that time they are still left. how do i remove them also?