Obstacle avoidance in move_base with kinect/xtion depth information

asked 2015-10-21 00:48:15 -0500

Rickardo Leos
13 ●12 ●14 ●18

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.

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

Humpelstilzchen ( 2015-10-21 02:12:18 -0500 )edit

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!

Rickardo Leos ( 2015-10-22 02:15:59 -0500 )edit

Use the scan_height parameter

Humpelstilzchen ( 2015-10-22 05:51:24 -0500 )edit

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answered 2015-10-21 04:27:05 -0500

Huibuh

385 ●18 ●27 ●27

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!

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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

kaygudo ( 2016-01-28 07:58:55 -0500 )edit

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

Huibuh ( 2016-01-28 08:22:26 -0500 )edit

you want all the topics and list of nodes?

kaygudo ( 2016-01-28 08:52:29 -0500 )edit

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

Huibuh ( 2016-01-28 09:14:32 -0500 )edit

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Obstacle avoidance in move_base with kinect/xtion depth information

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