Scan data does not update the point behind an obstacle.

[Zarqu0n]

Required Info:

• Operating System:
  Ubuntu 22.04
• Installation type:
  binary
• ROS Version
  ROS2 Humble
• Version or commit hash:
  release
• Laser unit:
  RP Lidar

Expected behavior

Actual behavior

Additional information

While mapping with my robot, pushing it causes my legs to block part of the lidar sensor. This results in my footprints appearing on the map and the map being saved in this way. To solve this problem, I added the 'min_laser_range' parameter. However, this solution limits the lidar's detection area in narrow spaces. Cartographer adds lidar data to the map using the 'probability_grid' algorithm. In Slam_toolbox, lidar data is held in a certain buffer before being processed and added to the map. However, since the lidar cannot see the area behind my legs, the points there are not updated. I have tuned the parameters but haven't found one that solves this issue. What solution would you suggest in this situation?
Thanks in advance!