The problem of the order of marking and clearing

[tanghaijian1992]

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// navigation mode: clear observations, mapping mode: save maps and publish if (!_mapping_mode) { _voxel_grid->updateRobotPosition(robot_x, robot_y); _voxel_grid->ClearFrustums(clearing_observations, cleared_cells); } else if (ros::Time::now() - _last_map_save_time > _map_save_duration) { _last_map_save_time = ros::Time::now(); time_t rawtime; struct tm* timeinfo; char time_buffer[100]; time (&rawtime); timeinfo = localtime (&rawtime); strftime(time_buffer, 100, "%F-%r", timeinfo);

costmap_2d::SaveGrid srv;
srv.request.file_name.data = time_buffer;
SaveGridCallback(srv.request, srv.response);

} double t2 = ros::Time::now().toSec(); ROS_INFO_THROTTLE(costmap_2d::loginterval,"occlusion dectect time elapsed %f", t2-t1);

// mark observations _voxel_grid->Mark(marking_observations);

// update the ROS Layered Costmap UpdateROSCostmap(min_x, min_y, max_x, max_y, cleared_cells);

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As the code show,when running "voxel_grid->Mark(marking_observations);" ,we do not mark at costmap,we should wait for next round to do it . I think it will have some delay ,why not mark at costmap just after running "voxel_grid->Mark(marking_observations);" ?

[SteveMacenski]

Its an efficiency thing, iterating through the voxel grid isn't "free" so by queuing it up for the next iteration we can substantially save computation. For running this at 10-20-etc hz, 1 timestep isn't a big deal for slow moving robots

[tanghaijian1992]

OK, I see that.Thanks!