Cartographer Map obstacles keep disappearing

[wbzi]

Hi, I am trying to map an area in which there are desks and chairs. When I walk in one direction the tables are mapped as obstacles, however when i turn around to go around the area, the tables disappear. I have tried changing the parameters but to no avail. What steps can I take to solve this issue?

[marmik18]

I have a similar issue, can someone help with this.
Thank you

[marmik18]

Hey @wbzi
It is mentioned here that the disappearing not explicitly modeled but rather part of the probability grid generatation.

I was able to tweak it by playing around with these 2 values in my .lua configuration:

TRAJECTORY_BUILDER_2D.submaps.range_data_inserter.probability_grid_range_data_inserter.hit_probability=0.75
TRAJECTORY_BUILDER_2D.submaps.range_data_inserter.probability_grid_range_data_inserter.miss_probability=0.49

The complete configuration can be found here.