Zac,

Have you tried rotating the robot (even if by nudging it yourself) a few
degrees to either side of the heading it stopped at. Does that clear out the
marked pixels? I've seen some pixels remained marked with high-resolution
costmaps and a laser such as the Sick LMS291 that do pings that have 1
degree of angle between them.

- Eric

On Wed, Nov 17, 2010 at 5:43 PM, zdydek <zac@mit.edu> wrote:

>
> Hi all,
>
> I'm running into an issue with costmap_2d, not sure if it is a bug or a
> parameter that is not set correctly...
>
> Essentially some obstacles do not clear out of my costmap after they have
> been moved. More precisely, when an obstacle moves and there is no farther
> away obstacle behind it (within the laser range), it is not cleared form
> the
> costmap.
>
> For example, if the robot is driving straight down a long hallway and I
> stand directly in front of it, an obstacle appears on the costmap. However,
> that obstacle is not removed after I leave, making it difficult or
> impossible to continue navigating down the hallway.
>
> My laser scanner is set with "marking: true" and "clearing: true" in my
> costmap_common_params.yaml.
>
> Any idea where the problem may lie?
>
> Thanks very much,
>
> -Zac
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