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Description
The Setup
- Ubuntu 20.04
- ROS noetic
- 2x Hokuyo Lidars Mounted upside down in the robot
<xacro:macro name="hokuyo_plugin" params="name topic"> <!-- hokuyo --> <gazebo reference="$(arg tf_prefix)_${name}_frame"> <sensor type="ray" name="$(arg tf_prefix)_${name}_sensor"> <pose>0 0 0 0 0 0</pose> <visualize>true</visualize> <update_rate>20</update_rate> <ray> <scan> <horizontal> <samples>720</samples> <resolution>1</resolution> <min_angle>-${2*PI*102.5/360}</min_angle> <max_angle>${2*PI*130/360}</max_angle> </horizontal> </scan> <range> <min>0.05</min> <max>30.0</max> <resolution>0.01</resolution> </range> <noise> <type>gaussian</type> <!-- Noise parameters based on published spec for Hokuyo laser achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and stddev of 0.01m will put 99.7% of samples within 0.03m of the true reading. --> <mean>0.0</mean> <stddev>0.001</stddev> </noise> </ray> <plugin name="gazebo_ros_${name}_controller" filename="libgazebo_ros_laser.so"> <topicName>/$(arg skidname)/${topic}</topicName> <frameName>$(arg tf_prefix)_${topic}_frame</frameName> </plugin> </sensor> </gazebo> </xacro:macro> - Gazebo 11
How to reproduce
- Start a gazebo world with objects
- Start iris_lama slam_2d
- Move an object in gazebo that already has been identified as static wall
Actual Behavior
On this screenshot you can see black dots around the footprint of the robot on the right hand side of the screenshot.
- Those do not exist in the simulation and still make the robot think he is stuck.
- No lidar points appeared where the dots appear (at least not the last 10 minutes, but at the beginning the obstacle on the left side of the screenshot was there)
- The dots behavior remind of Conway's Game of Life
Note: We observe the same behavior on the real robot, in the real word with sick nanoscan3 lidars.
Expected Behavior
- Map contains static obstacles only at places where lidar points appear
- Dots do not appear in free space without lidar point event
- When formerly static objects start to disappear on the map, they should fully disappear and not leave some blinking dots behind
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