ros2 costmap 超声波层不更新

[小丑汪]

设置了超声波层，在实际使用的时候，不能及时更新，还会在车体附件生成障碍物


我使用的参数如下：

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: True
      #robot_radius: 0.22
      footprint: "[ [0.35, 0.31], [0.35, -0.31], [-0.35, -0.31], [-0.35, 0.31] ]" #"[ [0.35, 0.30], [0.35, -0.30], [-0.35, -0.30], [-0.35, 0.30] ]"
      resolution: 0.05
      footprint_padding: 0.032 #0.052
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer","range_sensor_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        footprint_clearing_enabled: true
        observation_sources: scan scan_front
        scan:
          topic: /laser_back_scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          inf_is_valid: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
        scan_front:
          topic: /laser_front_scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          inf_is_valid: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      range_sensor_layer:
        plugin: "nav2_costmap_2d::RangeSensorLayer"
        enabled: True
        topics: ["/range"]
        phi: 1.2
        inflate_cone: 15.0
        no_readings_timeout: 0.0
        clear_threshold: 0.2
        mark_threshold: 0.8
        clear_on_max_reading: True
        input_sensor_type: ALL
      always_send_full_costmap: True```