Ask Your Question

teleop + Collision detection

asked 2015-07-11 17:28:26 -0500

P Tiago P gravatar image

What is the most effective way to implement teleop (twist) with collision detection, basically how to query the costmap to determine if is clear of free to send the twist msg ?

Cheers, Tiago

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted

answered 2015-07-13 07:07:29 -0500

The navigation_collision_checker_node is a straightforward implementation of using MoveIt! collision checking against an octomap to prevent collisions with the environment. It takes in a Octomap on a topic as well as a Twist and sets output Twist to zero in case a collision is predicted. There's a lot of fancy stuff that could be done on top, but it works ok.

edit flag offensive delete link more

answered 2015-07-12 06:21:22 -0500

duck-development gravatar image

Schould look at the code from Ros-Wiki

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



Asked: 2015-07-11 17:28:26 -0500

Seen: 238 times

Last updated: Jul 13 '15