Obstacle layer in the layered costmap

when the obstacle layer mark a cell as a lethal cell in the master layer, does it keep updating this cell as occupied until it is cleared by clearing observation ? Or it is only updated one time when it is detected by laser scanner ?

Asked by Rayen on 2023-06-11 12:04:19 UTC

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Yes, it remains until something tells it to be cleared either by raycasting or via an explicit costmap clear

Asked by stevemacenski on 2023-06-11 15:18:11 UTC

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thanks for replying. What i meant is: does the obstacle layer keeps on updating this cell as occupied in each update cycle ?

Asked by Rayen on 2023-06-11 15:21:46 UTC

It remains marked in the master costmap as occupied, yes.

Asked by stevemacenski on 2023-06-12 18:29:40 UTC

Hi Steve, I appreciate your reply. But I think my question is misunderstood. To be clear, I created a layer that clears robot footprints in a multi-robot system, but the lethal cells come back after they are cleared, even if they are no longer detected by the laser scan. It's as if these cells are somehow continuously marked by the obstacle layer until they are cleared by the obstacle layer itself.

Asked by Rayen on 2023-06-14 07:08:01 UTC