How to integrate a learned classification node to ros navigation stack
Hello,
I am new to ROS and am using it for my school project. I am working on a turtlebot3 for navigation purpose. Currently it deploys navigation stack (Dijkstra global_planner
and DWA local_planner
) with Laser input.
I wish to improve the obstacle avoidance performance using a raspberry pi camera. I have written a classification node that takes raw image as input and output 5 different velocity cmd (left, left-straight, straight, right-straight, right)
As I still want the robot go to a certain destination using global planner, I wish to integrate this classification node to the original navigation stack. However, since I don't compute the cost map from the image, I am wondering if there is still a way to achieve this?
To be more specific, my questions are:
- Is it possible to write this classification node as a local planner plugin if it does not compute the cost map?
- If not, how to integrate this node into the navigation stack?
- Is possible for the robot to know where it is without this cost map?
- If 3 is not possible, what if I keep the DWAlocal planner and laer input just to locate the robot?
I am sorry for this long question, but I would really appreciate it if anyone could give me some suggestions or links that may help! Thanks a lot
Welcome! Is there a difference between this question and your other one #q284636?
Oh, Sorry I think I submitted twice. They are exactly the same!