hectorslam + navigation stack : obstacle inflation problem
Hi, I'm trying to use hectorslam in conjuction with the navigation stack for automatic map exploration. My robot has odometry and laser sensors. Hectorslam works well (with joystick teleop by exemple) but I have some problems with the navigation stack. First of all, my robot has some problem to move because some wrong obstacle detection. Here a screenshot of my rviz output that shows inflated obstacles. There is inflated obstacles in the unknown areas. I don't understand why :
Following the navigation tutorial it shouldn't have inflated obstacle in unknown spaces :
Here, my navigation configuration files :
psykokwak@robot:~/ros/workspace$ cat arobot/config/* TrajectoryPlannerROS: max_vel_x: 0.45 min_vel_x: 0.1 max_rotational_vel: 1.0 min_in_place_rotational_vel: 0.4 acc_lim_th: 3.2 acc_lim_x: 2.5 acc_lim_y: 2.5 holonomic_robot: false meter_scoring: true obstacle_range: 2.5 raytrace_range: 3.0 footprint: [[0.2, 0.2], [0.2, -0.2], [-0.2, -0.2], [-0.2, 0.2]] inflation_radius: 0.50 observation_sources: laser_scan_sensor laser_scan_sensor: {sensor_frame: /laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true} global_costmap: map_type: voxel global_frame: /map robot_base_frame: /base_link update_frequency: 1.0 static_map: true local_costmap: map_type: voxel global_frame: /odom robot_base_frame: /base_link update_frequency: 5.0 publish_frequency: 5.0 static_map: false rolling_window: true width: 3.0 height: 3.0 resolution: 0.02
An other problem I have : My computer is an Intel core i5 and the "move_base" process take 40/50%... For comparaison, the "hector_mapping" process take only 10%...
So, the local costmap does not take care of the map provided by hector/gmapping but takes care of the map provided by the map server ? Where is the difference ?