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Obstacle avoidance in move_base with kinect/xtion depth information

Hi friends, do anyone have idea to add obstacle avoidance in move_base with kinect/xtion depth information, not just the fake-laser, but with the whole FOV vertical plane.

Asked by Rickardo Leos on 2015-10-21 00:48:15 UTC

Comments

depthimage_to_laserscan can give you the lowest value over multiple rows, does that help you?

Asked by Humpelstilzchen on 2015-10-21 02:12:18 UTC

What I want is to use "multiple rows" of fake "laser" for obstacle avoidance. How can I get the values with depthimage_to_laserscan? Cheers!

Asked by Rickardo Leos on 2015-10-22 02:15:59 UTC

Use the scan_height parameter

Asked by Humpelstilzchen on 2015-10-22 05:51:24 UTC

Answers

Hi, I can recommend using using the rtabmap_ros/obstacles_detection nodelet to segment floor and obstacles. Then, use the two topics "obstaces" and "ground" published by obstacles_detection as data sources for your obsetacles layer of move_base. Set "obstacles" topic to marking and "gound" to clearing. Works like a treat, I hope this hels!

Asked by Huibuh on 2015-10-21 04:27:05 UTC

Comments

hello,when i type "roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" and type "rosnode list" i can't find any node named "rtabmap_ros/obstacles_detection". plz guide i am new to ROS

Asked by kaygudo on 2016-01-28 08:58:55 UTC

Please copy the contents of your rgbd_mapping.launch as well as the command line output of the launch process. Regards

Asked by Huibuh on 2016-01-28 09:22:26 UTC

you want all the topics and list of nodes?

Asked by kaygudo on 2016-01-28 09:52:29 UTC

If you can, yes please. Either attach a text file or post link to where the log file is hosted.

Asked by Huibuh on 2016-01-28 10:14:32 UTC