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Use different LaserScan source for obstacle avoidance

asked 2016-06-03 04:16:59 -0500

Constantine gravatar image

Is it possible to use different LaserScan source for obstacle avoidance? In my robot model I have several laser scanners installed and want to use one for navigation and the other one (possible more than one) for obstacle avoidance. I am using ROS Indigo and Kinetic with standard navigation stack.

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answered 2016-06-03 06:07:20 -0500

FOXTER gravatar image

Yes. In the costmap configuration you can specify the observation_sources, where you can choose a different topic. Look under the costmap configuration section here: .

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Asked: 2016-06-03 04:13:21 -0500

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Last updated: Jun 03 '16