Ask Your Question

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!

edit retag flag offensive close merge delete


No suggestions? Anyone?

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

1 Answer

Sort by » oldest newest most voted

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

I found this gazebo plugin that converts to octomap from a mesh:

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


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

Seen: 616 times

Last updated: Sep 17 '15