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Motion planning collision checking on Gazebo virtual worlds

asked 2015-06-22 04:25:27 -0500

Hello everyone,

I will create a virtual building in Gazebo with the building editor. Then, I want to do motion planning in that building. In the past, I was carrying out a mapping step in which I was teleoperating the robot and building an octomap from the sensor data. Then I used the octomap for collision checking.

Now, I would like to directly use the environment saved for collision checking or to automatically convert it into an octomap (or just a 3D occupancy grid), so I do not need to manually sense the map. Any ideas on how to do this? Thank you!

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No suggestions? Anyone?

Javier V. Gómez gravatar image Javier V. Gómez  ( 2015-06-26 01:39:33 -0500 )edit

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answered 2015-09-17 04:04:46 -0500

I found this gazebo plugin that converts to octomap from a mesh: https://github.com/ethz-asl/rotors_si...

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Asked: 2015-06-22 04:25:27 -0500

Seen: 616 times

Last updated: Sep 17 '15