[ros-users] Clearing cells in Costmap2DROS

[sabrinakliegl at innok.de]

Just an update:

I am now using two point clouds as observation sources - one  
containing all points belonging to obstacles and the other containing  
freespace. With these settings (in costmap_common.yaml):

observation_sources: obstacle_pcl free_pcl

obstacle_pcl: {sensor_frame: base_link, data_type: PointCloud, topic:  
/obstacle_points, marking: true, clearing: false}
free_pcl: {sensor_frame: base_link, data_type: PointCloud, topic:  
/free_points, marking: false, clearing: true}

Again, the obstacles are marked correctly in the the costmap. But the  
cells of the costmap are not cleared with points from free_pcl...

Any ideas how to clear the cells? Thank you in advance.

Sabrina

Zitat von sabrinakliegl at innok.de:

> Hi,
>
> I am testing move_base with sensor data from our stereo vision sensor.
> Thus, I have a PointCloud as observation source for the costmap. I
> want to use the parameters ~<name>/max_obstacle_height (=0.7) and
> ~<name>/<source_name>/min_obstacle_height (=0.05) to mark the
> appropriate obstacles in the costmap - assuming that the costmap
> considers values smaller than min_obstacle_height as ground (= free
> space).
>
> This seems to work for a static environment generally. But as soon as
> e.g. somebody walks through the picture, his trace is marked as
> obstacle cells. After the person leaves the picture I would expect the
> costmap to clear these cells, because the corresponding "z"-values
> from the point cloud are less than min_obstacle_height. Instead the
> cost map obviously ignores values smaller than min_obstacle_height.
>
> Is there any way to use the values smaller than min_obstacle_height to
> clear the former obstacle cells?
>
> Regards,
> Sabrina
>
>
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