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How to extend available "2D navigation stack"

asked 2014-01-20 02:16:47 -0500

Marcus gravatar image

updated 2014-01-28 17:07:33 -0500

ngrennan gravatar image

Hey Robot Enthusiasts,

I am currently working on a robot that is supposed to navigate a dynamic environment. So far I managed to build a robot model (with sensors like camera and LASERS) that I can spawn in Gazebo, use the already provided navigation stack to enable the robot to localize itself and to find a good path to a target position. So far so good.

Right now I have introduced a Visual Servoing controller which is suppose to take over the robot as soon as I can ensure a save control. So I still need the navigation stack to do its work in the beginning (to get me on the right track). Basically I am looking for a modular navigation in which I (or a supervising controller) can choose which sub-controller (my visual servoing controller, the ros navigation solution, further controllers) is used at any given time.

So what is my question: Is there a way to stop (and later reengage) the published <geometry_msgs::twist> from the ros navigation stack? I already tried "overwriting" this message with my own, but it did not work.

Thanks in advance Marcus

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answered 2014-05-14 09:19:40 -0500

David Lu gravatar image

One (computationally expensive) way to do it is to create a node that listens to the navigation's twist command, and the other twist command, and republishes which ever one you want to use.

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There is actually already a node that will do the multiplexing: http://wiki.ros.org/cmd_vel_mux.

Dan Lazewatsky gravatar imageDan Lazewatsky ( 2014-05-14 10:11:20 -0500 )edit

Hey guys, thanks for the answers, I was not in the lab the last week, so I just now saw your replies. Since I posted my question a few months ago, I actually had already implemented the solution proposed by David. I will have a look at Dan's idea this week. Maybe it is less computational demanding.

Marcus gravatar imageMarcus ( 2014-05-18 22:24:09 -0500 )edit

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Asked: 2014-01-20 02:16:47 -0500

Seen: 188 times

Last updated: May 14 '14