[ros-users] Inflation remain in rviz

Eitan Marder-Eppstein eitan at willowgarage.com
Wed Feb 2 18:38:41 UTC 2011

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,


On Tue, Feb 1, 2011 at 11:19 PM, clarkwu <wu.xiaojun at 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.
> --
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> http://ros-users.122217.n3.nabble.com/Inflation-remain-in-rviz-tp2397864p2403590.html
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