[ros-users] Clearing old obstacles from costmap

Tully Foote tfoote at willowgarage.com
Wed Nov 17 23:47:44 UTC 2010

Hi Zac,
That filtering is exactly what you need.  When looking down a long hallway
the laser returns max range.  To be conservative this is not used to ray
trace out obstacles since we have observed absorbative objects like leather
couches reporting max range.  There's a discussion on this thread


On Wed, Nov 17, 2010 at 3:43 PM, zdydek <zac at mit.edu> wrote:

> Yes, rotating the robot does not clear them out (unless I rotate to a
> configuration where another farther away obstacle appears behind the
> phantom
> obstacle). Translating the robot towards the obstacle does not clear them
> out either until the robot almost drives on top of them. I am using a
> Hokuyo
> URG and a fairly coarse (0.05 m/pix) map resolution.
> I've read some of your other posts suggesting a filtered laser signal used
> for clearing that converts max_range signals to slightly less than
> max_range. Would that be applicable to my situation? Is there another
> option
> that might be easier to implement?
> Thanks,
> -Zac
> --
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Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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