[ros-users] Clear cells in costmap with max laser range

Roderick de Nijs rsdenijs at lsr.ei.tum.de
Fri Jul 16 17:50:06 UTC 2010

Hi all :)

Costmap2D seems not to "clear" the space around the robot if the laser 
scan range is max. This means, if you put the robot on an open field (no 
obstacles) it will leave *all* the space around it as *unknown*.
Essentially, if Costmap sees that the scan_range=max_scan_range... it is 
as if it ignores it.

Is there a way to configure the costmap so it wont do this? With the 
GMapping module it does it...

Thanks and have a nice weekend

Roderick de Nijs

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