Don't refresh obstacles in grid_map

[Mercedes]

Hello,
We are using rtabmap_ros with a ZED and the odometry given for zed_wrapper.  

I placed an obstacle into the scene and then removed it. It appeared in the grid_map but was not removed, even if i move the robot.
The local_map, that use obstacles_detection, refresh correctly.
Any idea?

Thanks,
Mercedes


The rtabmap launch:
zed_and_rtabmap.launch

[matlabbe]

Hi Mercedes,

By the local_map, do you mean the local costmap of move_base? For /rtabmap/grid_map, the obstacle cells should be cleared only if the ground can be seen again under where the obstacle was. With a stereo camera it is not always the case even if the camera is looking the ground because there is generally no texture, thus no depth computed on the ground. move_base does ray tracing to clear the cells. If you want to do something similar (at the cost of more processing power required), you can look at the /rtabmap/octomap_grid topic. This output does ray tracing to clear obstacles without the need to see the ground.

cheers,
Mathieu