From 42661b6673b296fdc1d9d3e5255a5377cfdc4122 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Mon, 29 Aug 2016 16:54:31 -0400 Subject: [PATCH] MapsManager: always fill unknown cells for negative 2d scans --- src/MapsManager.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/MapsManager.cpp b/src/MapsManager.cpp index d38333d5..e8b48312 100644 --- a/src/MapsManager.cpp +++ b/src/MapsManager.cpp @@ -276,6 +276,10 @@ void MapsManager::setParameters(const rtabmap::ParametersMap & parameters) // don't use grid cell size from parameters as we use grid_cell_size ros param uInsert(parameters_, ParametersPair(Parameters::kGridCellSize(), uNumber2Str(gridCellSize_))); + + // For negative laser scans, always fill empty space + uInsert(parameters_, ParametersPair(Parameters::kGridScan2dUnknownSpaceFilled(), "true")); + occupancyGrid_->parseParameters(parameters_); }