When using navigation, map and global map couldn't delete obstacles

Hello, I'm new in ROS, and I'm trying to use navigation with turtlebot. My ROS and Ubuntu version as following: Ubuntu: 14.04 ROS: indigo **Question 1:** I run my launch file (`$ roslaunch turtlebot_gazebo turtlebot_navigation.launch`), and use "2D Nav Goal" of rviz to navigate, when I removed the wall of obstacle, I found the **map** and **global map** couldn't delete obstacles. [gazebo comparison](http://imgur.com/a/Vw3Id) [rviz comparison](http://imgur.com/a/1DQq9) How could I delete the obstacle on rviz ? I had modified the parameters of the following file, but it's no use. **costmap_common_params.yaml** obstacle_range: 5.5 raytrace_range: 10.0 **global_costmap_params.yaml** global_frame: /odom update_frequency: 20.0 publish_frequency: 20.0 static_map: false **local_costmap_params.yaml** update_frequency: 20.0 publish_frequency: 20.0 **Question 2:** From the rviz map, gmapping seems not handled well in the loop closure, is there any parameters need to change ? [rviz result](http://imgur.com/a/1DQq9) My launch file and move_base configuration as following: **turtlebot_navigation.launch**: **costmap_common_params.yaml** max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot # Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation) robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) # footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular map_type: voxel obstacle_layer: enabled: true max_obstacle_height: 0.6 origin_z: 0.0 z_resolution: 0.2 z_voxels: 2 unknown_threshold: 15 mark_threshold: 0 combination_method: 1 track_unknown_space: true obstacle_range: 5.5 raytrace_range: 10.0 origin_z: 0.0 z_resolution: 0.2 z_voxels: 2 publish_voxel_map: false observation_sources: scan bump scan: data_type: LaserScan topic: scan marking: true clearing: true min_obstacle_height: 0.25 max_obstacle_height: 0.35 bump: data_type: PointCloud2 topic: mobile_base/sensors/bumper_pointcloud [hide preview] marking: true clearing: false min_obstacle_height: 0.0 max_obstacle_height: 0.15 # for debugging only, let's you see the entire voxel grid #cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns inflation_layer: enabled: true cost_scaling_factor: 5.0 inflation_radius: 0.5 static_layer: enabled: true **global_costmap_params.yaml** global_costmap: global_frame: /odom robot_base_frame: /base_footprint update_frequency: 20.0 publish_frequency: 20.0 static_map: false transform_tolerance: 0.5 plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} **local_costmap_params.yaml** local_costmap: global_frame: odom robot_base_frame: /base_footprint update_frequency: 20.0 publish_frequency: 20.0 static_map: false rolling_window: true width: 4.0 height: 4.0 resolution: 0.05 transform_tolerance: 0.5 plugins: - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} Thank you for your help.