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clear already reported observations #1140

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dorezyuk
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Hey,

The current getObsevation function calls purgeStaleObservation - this function is in the current state a noop, since we don't update the last_updated_ time (as addressed in #1114).

The other change is clearing already reported observations. Currently, for observation_persistence larger than the update_frequency, same points would be painted onto the observation layer. I think it makes sense to drop the observations already incorporated into the costmap.

Best,
Dima

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