[ros-users] Clearing old obstacles from costmap

[Eitan Marder-Eppstein]

Zac,

The filter actually exists in navigation_experimental, in the
assisted_teleop package. Kind of hidden, but it should be pretty easy to use
or pull out. Hopefully, this helps make implementing the filter pretty
painless.

Hope all is well,

Eitan

On Wed, Nov 17, 2010 at 3:47 PM, Tully Foote <tfoote at willowgarage.com>wrote:

> 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
> https://code.ros.org/lurker/message/20100923.164610.34535675.en.html
>
> Tully
>
> 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
>> --
>> View this message in context:
>> http://ros-users.122217.n3.nabble.com/Clearing-old-obstacles-from-costmap-tp1920291p1920631.html
>> Sent from the ROS-Users mailing list archive at Nabble.com.
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>
>
>
> --
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote at willowgarage.com
> (650) 475-2827
>
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