we are using a Hokuyo URG-04LX-UG01 laser scanner on our robot. The scanner has a range of max. 5.6m. Now we ran into some problems in the environment we are in, which is kind of a living room/office environment and has distances >5.6m.
We observed, that when the distance that should be measured by the laser scanner is greater 5.6m, the hokuyo_node publishes a range of 0.0. As I understand it, this shouldn't happen, since the minimal distance in the documentation of the scanner is 20mm.
This then in turn leads to problems with the costmap, because due to the 0.0 measurements, the costmap doesn't get cleared, when the laser sees nothing within it's range.
Has anyone of you observed the same problem and/or can provide a not too hacky solution?
Thank you very much.
Kind regards, Matthias
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