Costmaps shows free space at grid_map as obstacles

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Costmaps shows free space at grid_map as obstacles

ignatov
Hello.

I am trying to use rtabmap for navigation of quadcopter (from here) in Gazebo. Quadcopter is equipped with kinect. It hovers at a height of 1.5 m. Global and local costmaps both show that free space at grid_map in front of copter is occupied with obstacles. During the movement, these cells sometimes remain occupied, sometimes become free.
Have I made any mistakes in rtabmap node or in .yaml files?
grid_map without global_costmap:

grid_map

grid_map with global_costmap:



Rtabmap node in launch-file:
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
	<param name="frame_id" type="string" value="base_link"/>
        <param name="subscribe_stereo" type="bool" value="false"/>
        <param name="subscribe_depth" type="bool" value="true"/>
        <param name="odom_frame_id" type="string" value="world"/>

	<remap from="depth/image" to="/quad/camera_/depth/disparity"/>
	<remap from="rgb/image" to="/quad/camera_/camera/image_raw"/> 
	<remap from="rgb/camera_info" to="/quad/camera_/camera/camera_info"/> 
		
        <param name="queue_size" type="int" value="30"/>

        <!-- RTAB-Map's parameters -->
        <param name="Rtabmap/TimeThr" type="string" value="700"/>
        <param name="Rtabmap/DetectionRate" type="string" value="1"/>
        
        <param name="Kp/MaxFeatures" type="string" value="200"/>
        <param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>

        <param name="SURF/HessianThreshold" type="string" value="1000"/>

        <param name="Vis/MaxDepth" type="string" value="5"/>
        <param name="Vis/MinInliers" type="string" value="10"/>
        <param name="Vis/InlierDistance" type="string" value="0.05"/>

        <param name="RGBD/LoopClosureReextractFeatures" type="string" value="true"/>
        <param name="Vis/MaxFeatures" type="string" value="500"/>
        
        <param name="grid_size" type="double" value="10.0"/>
        
        <remap from="grid_map" to="map"/>
</node>


cosmtap_common_params.yaml:
footprint: [[-0.2,-0.2],[-0.2,0.2], [0.2, 0.2], [0.2,-0.2]]
inflation_radius: 0.65
cost_scaling_factor: 10.0

obstacle_layer:
  obstacle_range: 5.5
  raytrace_range: 6.0
  max_obstacle_height: 0.7
  track_unknown_space: true

  observation_sources: point_cloud_sensor
  
  point_cloud_sensor: {
    sensor_frame: quad/camera__link,
    data_type: PointCloud2,
    topic: /quad/camera_/depth/points,
    marking: true,
    clearing: true
  }


global_costmap_params.yaml:
global_costmap:
  global_frame: /map
  robot_base_frame: /base_link
  update_frequency: 1.0
  publish_frequency: 1.0
  static_map: false
  plugins:
     - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}


local_costmap_params:
local_costmap:
  global_frame: /map
  robot_base_frame: /base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 5.0
  height: 5.0
  resolution: 0.02
  tranform_tolerance: 0.5
  planner_frequency: 1.0
  planner_patiente: 5.0
  plugins:
     - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}