Interesting. I didn't realize that the obstacles themselves were clearing fine and that just the inflation around them was sticking around. That's actually pretty strange.
Can you post the parameters you're using to configure your costmaps?
Also, just to check if its some weird visualization artifact in rviz, can you try unsubscribing and then resubscribing to the inflated_obstacles topic to see what happens? I'd also be curious to see what uknown_space looks like for your costmap, so could you subscribe to that as well?
I'm not immediately sure what's going on. The one thought I'm having is that you could have some thresholds for unknown space that are set too high. So, when the laser sees an obstacle, it goes into the map, but when the laser sees through it, instead of going to free space, it becomes unknown and perhaps I have a bug in the way that I handle old inflation cost around unknown space. I don't think I did a great job of explaining that, but, hopefully, the parameters will shed a bit more light on things.
Hope all is well,
Eitan
On Tue, Feb 1, 2011 at 11:19 PM, clarkwu
<wu.xiaojun@gmail.com> wrote:
Eitan,
Thanks for your reply.
To further explain the problem zhiping and I were facing, here is the
youtube link on what we observed:
http://www.youtube.com/watch?v=UUZe5XrYBaM
In the video, red color refers to scanning data from a tilting laser, while
the blue color denotes the inflation.
At the very beginning, the space in front of the robot is clear; then I
purposely walked into the laser view and left. The video also records the
laser result along this event. After several seconds, the red color
corresponding to human presence disappeared but the blue color for inflation
still remains there.
Understand that "the navigation stack keeps obstacles in its costmap until a
sensor sees through them"; yet here the tilting laser is keep scanning and
supposed be able to see through ... your further advise are greatly welcome
BTW, in yaml file, the observation_persistence this laser source is set to
4.6 second. We have set both marking and clearing of this observation source
to true in costmap_common_params.yaml file.
--
View this message in context: http://ros-users.122217.n3.nabble.com/Inflation-remain-in-rviz-tp2397864p2403590.html