I'm using a 270° lidar for the obstacle layer of my local costmap but some obstacles seems to drift into the blind spot of the lidar and so they can't be cleanned anymore. Because the robot is rectangular, some of those ghost obstacles get in collision with the footprint of the robot when turning.

I'm using a als_ros for the localisation and I use the wheel position as odometry.

Is there a way to clear obstacles that are not currently seen ?

I can't post an image yet so here is a link : https://ibb.co/W0LdVBF

costmap_common.yaml :

footprint_padding: 0.01
robot_base_frame: base_footprint

resolution: 0.05
obstacle_range: 4.0
raytrace_range: 8.0

static:
    map_topic: /map
    subscribe_to_updates: true

obstacles_laser:
    observation_sources: laser
    laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, sensor_frame: laser, inf_is_valid: true, observation_persistence: 0.0}

inflation:
    inflation_radius: 0.30

costmap_local.yaml :

global_frame: odom
rolling_window: true

update_frequency: 6.0
publish_frequency: 3.0 # For visualization 
transform_tolerance: 0.3

plugins:
  - {name: obstacles_laser,           type: "costmap_2d::ObstacleLayer"}
  - {name: inflation,                 type: "costmap_2d::InflationLayer"}