{"action":"created","issue":{"url":"https://api.github.com/repos/fetchrobotics/fetch_ros/issues/25","repository_url":"https://api.github.com/repos/fetchrobotics/fetch_ros","labels_url":"https://api.github.com/repos/fetchrobotics/fetch_ros/issues/25/labels{/name}","comments_url":"https://api.github.com/repos/fetchrobotics/fetch_ros/issues/25/comments","events_url":"https://api.github.com/repos/fetchrobotics/fetch_ros/issues/25/events","html_url":"https://github.com/fetchrobotics/fetch_ros/pull/25","id":120868583,"number":25,"title":"Improved local costmap clearing by considering all points for clearance.","user":{"login":"MarekAtGoogle","id":14808875,"avatar_url":"https://avatars.githubusercontent.com/u/14808875?v=3","gravatar_id":"","url":"https://api.github.com/users/MarekAtGoogle","html_url":"https://github.com/MarekAtGoogle","followers_url":"https://api.github.com/users/MarekAtGoogle/followers","following_url":"https://api.github.com/users/MarekAtGoogle/following{/other_user}","gists_url":"https://api.github.com/users/MarekAtGoogle/gists{/gist_id}","starred_url":"https://api.github.com/users/MarekAtGoogle/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MarekAtGoogle/subscriptions","organizations_url":"https://api.github.com/users/MarekAtGoogle/orgs","repos_url":"https://api.github.com/users/MarekAtGoogle/repos","events_url":"https://api.github.com/users/MarekAtGoogle/events{/privacy}","received_events_url":"https://api.github.com/users/MarekAtGoogle/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-12-07T21:10:44Z","updated_at":"2016-02-24T17:28:30Z","closed_at":"2015-12-15T03:05:12Z","pull_request":{"url":"https://api.github.com/repos/fetchrobotics/fetch_ros/pulls/25","html_url":"https://github.com/fetchrobotics/fetch_ros/pull/25","diff_url":"https://github.com/fetchrobotics/fetch_ros/pull/25.diff","patch_url":"https://github.com/fetchrobotics/fetch_ros/pull/25.patch"},"body":"Previous implementation was considering only ground end-points for clearance which caused very poor clearing of the local cost map. This implementation considers all points for clearance and increases boundary radius cor marking to avoid non-clearable observations.\r\n\r\nThere seem to be no problems of deleting existing objects since clearing observations see mt be offset from real observed points a little bit."},"comment":{"url":"https://api.github.com/repos/fetchrobotics/fetch_ros/issues/comments/188364924","html_url":"https://github.com/fetchrobotics/fetch_ros/pull/25#issuecomment-188364924","issue_url":"https://api.github.com/repos/fetchrobotics/fetch_ros/issues/25","id":188364924,"user":{"login":"mikeferguson","id":899410,"avatar_url":"https://avatars.githubusercontent.com/u/899410?v=3","gravatar_id":"","url":"https://api.github.com/users/mikeferguson","html_url":"https://github.com/mikeferguson","followers_url":"https://api.github.com/users/mikeferguson/followers","following_url":"https://api.github.com/users/mikeferguson/following{/other_user}","gists_url":"https://api.github.com/users/mikeferguson/gists{/gist_id}","starred_url":"https://api.github.com/users/mikeferguson/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mikeferguson/subscriptions","organizations_url":"https://api.github.com/users/mikeferguson/orgs","repos_url":"https://api.github.com/users/mikeferguson/repos","events_url":"https://api.github.com/users/mikeferguson/events{/privacy}","received_events_url":"https://api.github.com/users/mikeferguson/received_events","type":"User","site_admin":false},"created_at":"2016-02-24T17:28:30Z","updated_at":"2016-02-24T17:28:30Z","body":"@MarekAtGoogle please note https://github.com/fetchrobotics/fetch_ros/pull/29 -- which adds the parameter \"clear_with_skipped_rays\" and makes it default to false -- for your use case you will want to set this parameter to true. During more extensive testing we found that using the skipped rays on the edges to clear caused short objects to often be erased from the costmap as the robot turned away from them."}}