ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

0

teleop + Collision detection

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

flag of United States of America

3 ●3 ●5 ●5

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 » oldest newest most voted

0

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

Stefan Kohlbrecher

flag of Germany

24361 ●173 ●299 ●444 https://www.energy-rob...

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

1

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

duck-development

flag of Germany

1999 ●4 ●160 ●25

Schould look at the code from Ros-Wiki

edit flag offensive delete link

Question Tools

2 followers

Stats

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

Seen: 378 times

Last updated: Jul 13 '15

Related questions

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2