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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


Originally posted by [email protected] on ROS Answers with karma: 159 on 2015-10-28

Post score: 1


Original comments

Comment by miguel on 2015-10-28:
what is your raytrace_range parameter set to in the costmap?

Comment by [email protected] on 2015-10-28:
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.

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1 Answer 1

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Again, I will answer my own question.

I wrote a custom range filter, and this can be applied in obstacle observation sources in costmap_common_params.yaml The logic is simple, if the laser range is large enough or Inf or Nan, then rewrite it to be another value which is slightly larger than your "obstacle_range" value.

https://github.com/wennycooper/learning_nav/blob/master/src/mybot_laser_obstacle_clearing_filter.cpp


Originally posted by [email protected] with karma: 159 on 2015-11-01

This answer was ACCEPTED on the original site

Post score: 1

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