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SteveMacenski / slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS
GNU Lesser General Public License v2.1
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Which lifelong mapping parameter forces the new LaserScans to take precedence over old LaserScans? #448

Open BA8F0D39 opened 2 years ago

BA8F0D39 commented 2 years ago

I am running ROS2 galatic with Navigation 2 and slam_toolbox (galatic branch).

I work in an environment where there are lots of people moving around, and they create obstacles. The dynamic obstacles appear as "ghost points" on the grid map, and lifelong mapping takes a long while to clear the dynamic obstacles. Also, the global costmap of Navigation 2 doesn't clear.

I want to make the old LaserScans decay faster and new LaserScans to take precedence in the mapping process. Which parameter do I change in lifelong to make the dynamic obstacles clear faster?

SteveMacenski commented 2 years ago

That probability value is not currently exposed but it is in the grid generation process. I’d be happy to review a PR to expose it for tuning though!

BA8F0D39 commented 2 years ago

Which value in the source code controls it?

Peek 2021-10-29 23-09

dzysdhr123 commented 2 years ago

That probability value is not currently exposed but it is in the grid generation process. I’d be happy to review a PR to expose it for tuning though!

Same problem, please

SteveMacenski commented 2 years ago

https://github.com/SteveMacenski/slam_toolbox/blob/ros2/lib/karto_sdk/include/karto_sdk/Karto.h#L5920

This is the ratio