parameters - 机器人未清除障碍物 (ROS)

Question

我的机器人在自主导航期间清除障碍物为时已晚。而且它不会清除我的机器人运动过程中留下的任何动态障碍。我在终端中键入 rosservice call /move_base/clear_costmaps "{}"，但我希望机器人在同步前进的同时移除其背后的动态障碍物。您对此有什么建议吗？

dwa_local_params：

# Robot Configuration Parameters
  max_vel_x: 0.8
  min_vel_x: -0.8

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_trans_vel: 0.5
  min_trans_vel: 0.0 

  max_rot_vel: 0.5
  min_rot_vel: 0.0 

# The velocity when robot is moving in a straight line
#  max_vel_trans:  2.24
#  min_vel_trans:  0.0

#  max_vel_theta: 6.00
#  min_vel_theta: 0.0

  acc_lim_x: 0.8
  acc_lim_y: 0.0
  acc_lim_theta: 0.8 

# Goal Tolerance Parametes
  xy_goal_tolerance: 0.05
  yaw_goal_tolerance: 0.017
  latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 2.0
  vx_samples: 30
  vy_samples: 0
  vth_samples: 60
  controller_frequency: 5.0

# Trajectory Scoring Parameters
  path_distance_bias: 32.0
  goal_distance_bias: 20.0
  occdist_scale: 0.02
  forward_point_distance: 0.325
  stop_time_buffer: 0.2
  scaling_speed: 0.25
  max_scaling_factor: 0.2

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true

global_costmap_params：

 global_frame: map
  robot_base_frame: base_footprint

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5

  static_map: true
 

local_costmap_params：

  global_frame: odom
  robot_base_frame: base_footprint

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5  

  static_map: false  
  rolling_window: true

  width: 5
  height: 5

标签： parametersros