Obstacle detection in navigation stack

asked 2013-12-19 06:49:04 -0500

pwong gravatar image

updated 2013-12-21 09:01:00 -0500

tfoote gravatar image

I wanted to understand/know more about the navigation stack's obstacle detection in order to make sure I chose the right sensors/placement.

If a 3D sensor like the primesense/Kinect is able to see the ground, what determines if its an obstacle or free space? Just increase my understanding, it would check if the points on the ground is below the base of the robot?

I want to know if I can use a static angled 2D laser pointed towards the ground for object detection.

If that wouldn't work, would I need to actuate the laser and use the laser assembler package to transform it into a cloud for obstacle detection?

Lastly, what are the minimum frequency laser scanner/max servo velocity requirements in order to use the laser assembler package?

Thank you!

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