Zhiping,

By default, the navigation stack keeps obstacles in its costmap until a
sensor sees through them. Are you sure that you have your laser set up to
both mark and clear space? Without allowing the laser to clear, you won't
clear out obstacles in the map. Also, if your laser is returning max-range
values, they're likely being filtered out and not used for clearing space.
This could also cause obstacles to stick around unexpectedly. Documentation
on the "marking" and "clearing" parameter options for a costmap sensor
source may also be useful, see:
http://www.ros.org/wiki/costmap_2d#Sensor_management_parameters

<http://www.ros.org/wiki/costmap_2d#Sensor_management_parameters>Hope this
helps,

Eitan

On Tue, Feb 1, 2011 at 7:20 AM, Zhiping <TANZ0066@e.ntu.edu.sg> wrote:

>
> Hi to all,
>
> I'm currently trying to navigate the office environment using move_base and
> hokuyo laser sensor.
> I noticed that the dynamics inflation result remained in the map although
> its corresponding laser data is removed from Rviz due to the range
> limitation of the scanner.
>
> What approach should i use to ensure the dynamic inflation result is
> removed
> together with its corresponding laser data?
>
> With thanks,
> Zhiping
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