costmap-clearing-part-2.md

I investigated further with the max_range of camera and found that it was indeed 10 meters. When the camera is more than 10 meters away from an obstacle, the range readings in the /scan topic corresponding to the angle of the obstacle will be nan. Also, when an obstacle is within the minimum range of camera or the surface of the obstacle does not reflect any laser, the laser readings will be nan. These nan readings make the move base think there’s something wrong with laser and will not unmark an obstacle once it’s gone... I wrote a filter node called scan_filter.py which will replace the nan readings with 9.9 (a number slightly smaller than max_range), and publish to a new topic called /scan_filtered. Then I passes an argument to the move base in our launch file to make the cost map in move base subscribe to /scan_filtered. However, amcl should still subscribe to the original /scan topic because localization relies on unfiltered readings.

At first I changed all the nan readings to 9.90, but later Alex help me notice that the nan readings at the beginning and end of the array should not be changed, because they correspond to the laser being blocked by robot's body. Therefore I chose not to change these nan readings.

Now the robot will immediately unmark an obstacle on cost map once it is gone even the camera is out of range.

Huaigu Lin 11/21/2018