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 | 1 | initial version |
Are you trying to plan a manipulator path between point cloud clusters, or are you trying to navigate a mobile robot between two paths?
If you're trying to plan a manipulator, use MoveIt and add collision objects to your scene that correspond to the location of the clusters. Your manipulator will automatically plan around them.
If you're trying to move a mobile robot, take a look into SLAM.
| | 2 | No.2 Revision |
Are you trying to plan a manipulator path between point cloud clusters, or are you trying to navigate a mobile robot between two paths?
If you're trying to plan a manipulator, use MoveIt and add collision objects to your scene that correspond to the location of the clusters. Your manipulator will automatically plan around them.
If you're trying to move a mobile robot, take a look into SLAM.SLAM for automatic collision avoidance and mapping.
You should be able to use PCL to find the bounding boxes of two point clouds and then calculate the minimum distance between them. This would be your gap distance.
| | 3 | No.3 Revision |
Are you trying to plan a manipulator path between point cloud clusters, or are you trying to navigate a mobile robot between two paths?obstacles?
If you're trying to plan a manipulator, use MoveIt and add collision objects to your scene that correspond to the location of the clusters. Your manipulator will automatically plan around them.
If you're trying to move a mobile robot, take a look into SLAM for automatic collision avoidance and mapping.
You should be able to use PCL to find the bounding boxes of two point clouds and then calculate the minimum distance between them. This would be your gap distance.
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