Which lifelong mapping parameter forces the new LaserScans to take precedence over old LaserScans?

[BA8F0D39]

I am running ROS2 galatic with Navigation 2 and slam_toolbox (galatic branch).

I work in an environment where there are lots of people moving around, and they create obstacles. The dynamic obstacles appear as "ghost points" on the grid map, and lifelong mapping takes a long while to clear the dynamic obstacles. Also, the global costmap of Navigation 2 doesn't clear.

I want to make the old LaserScans decay faster and new LaserScans to take precedence in the mapping process. Which parameter do I change in lifelong to make the dynamic obstacles clear faster?

[SteveMacenski]

That probability value is not currently exposed but it is in the grid generation process. I’d be happy to review a PR to expose it for tuning though!

[BA8F0D39]

Which value in the source code controls it?

[dzysdhr123]

That probability value is not currently exposed but it is in the grid generation process. I’d be happy to review a PR to expose it for tuning though!

Same problem, please

[SteveMacenski]

https://github.com/SteveMacenski/slam_toolbox/blob/ros2/lib/karto_sdk/include/karto_sdk/Karto.h#L5920

This is the ratio