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Measurement buffer does not remove old observations if no observations are retrieved anymore #2

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Measurement buffer does not remove old observations if no observations are retrieved anymore #2

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1272dd1
Slightly change the order of subcalls in the `updateBounds`method, to…
schupf2 Nov 21, 2024
e0b43d9
Added comments to annotate changes made from our side.
schupf2 Nov 22, 2024
eae834b
Remove stale observations based on how old they are (instead of based…
schupf2 Nov 28, 2024
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2 changes: 1 addition & 1 deletion spatio_temporal_voxel_layer/src/measurement_buffer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -218,7 +218,7 @@ void MeasurementBuffer::RemoveStaleObservations(void)
}

for (it = _observation_list.begin(); it != _observation_list.end(); ++it) {
const rclcpp::Duration time_diff = _last_updated - it->_cloud->header.stamp;
const rclcpp::Duration time_diff = clock_->now() - it->_cloud->header.stamp;

if (time_diff > _observation_keep_time) {
_observation_list.erase(it, _observation_list.end());
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20 changes: 11 additions & 9 deletions spatio_temporal_voxel_layer/src/spatio_temporal_voxel_layer.cpp
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Expand Up @@ -600,10 +600,8 @@ void SpatioTemporalVoxelLayer::reset(void)
current_ = false;
was_reset_ = true;

observation_buffers_iter it = _observation_buffers.begin();
for (; it != _observation_buffers.end(); ++it) {
(*it)->ResetLastUpdatedTime();
}
// @kin-changes (costmap-clearance-issue): Reseting the _last_updated (ResetLastUpdatedTime) of the individual observation buffers was removed,
// since the buffers are not reset in this process either.
}

/*****************************************************************************/
Expand Down Expand Up @@ -675,10 +673,10 @@ void SpatioTemporalVoxelLayer::updateCosts(
return;
}

// if not current due to reset, set current now after clearing
// set was_reset to false again
if (!current_ && was_reset_) {
was_reset_ = false;
current_ = true;
// @kin-changes (costmap-clearance-issue): don't force current_ to be true here
}

if (_update_footprint_enabled) {
Expand Down Expand Up @@ -771,6 +769,13 @@ void SpatioTemporalVoxelLayer::updateBounds(
if (_map_save_duration) {
should_save = node->now() - _last_map_save_time > *_map_save_duration;
}

// mark observations
// @kin-changes (costmap-clearance-issue): this was moved before the call to ClearFrustums, to include the
// new markings within one update cycle
_voxel_grid->Mark(marking_observations);

// save map or clear frustrums and populate costmap
if (!_mapping_mode) {
_voxel_grid->ClearFrustums(clearing_observations, cleared_cells);
} else if (should_save) {
Expand All @@ -790,9 +795,6 @@ void SpatioTemporalVoxelLayer::updateBounds(
SaveGridCallback(nullptr, request, response);
}

// mark observations
_voxel_grid->Mark(marking_observations);

// update the ROS Layered Costmap
UpdateROSCostmap(min_x, min_y, max_x, max_y, cleared_cells);

Expand Down