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teleop + Collision detection

asked 2015-07-11 17:28:26 -0600

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

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answered 2015-07-13 07:07:29 -0600

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.

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answered 2015-07-12 06:21:22 -0600

duck-development gravatar image

Schould look at the code from Ros-Wiki

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Asked: 2015-07-11 17:28:26 -0600

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Last updated: Jul 13 '15