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how to determine the width of a corridor using kinect on turtlebot

asked 2016-07-12 08:14:24 -0500

Vinh K gravatar image

updated 2016-07-12 08:21:42 -0500

I am working on a project to do a formation change and I need to figure the width of a door where turtlebot must know if it can pass through or not.


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answered 2016-07-12 14:26:35 -0500

ahendrix gravatar image

Nominally, the turltebot can pass through a space that is larger than its physical size.

The standard implementation of navigation on the turtlebot builds an occupancy grid using the kinect data, inflates the obstacles by the robot's radius (plus some padding), and any remaining open grid cells are places where the turtlebot can safely navigate.

This is pretty much the standard implementation of navigation in ROS and is widely documented in both robotics literature and in the costmap_2d package, which is part of the larger ROS navigation stack.

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Hi ahendrix, could you show a code where I could implement it on my turtlebots please?

Vinh K gravatar image Vinh K  ( 2016-07-12 14:30:04 -0500 )edit

Start by running the turtlebot_navigation demos, and then explore the launch files and the configuration that they use.

ahendrix gravatar image ahendrix  ( 2016-07-12 14:33:13 -0500 )edit

I would really like to put it in my code where once the turtlebot detects that the corridor is small it will go in straight line and once they are out they will go back to their original formation.

Vinh K gravatar image Vinh K  ( 2016-07-12 14:35:03 -0500 )edit

or is there a particular launch file from the package above turtlebot_navigation demos and what it does?

Vinh K gravatar image Vinh K  ( 2016-07-12 15:16:47 -0500 )edit

I'm confused, are you using one turtlebot or many? Your initial question used the singluar (one turtlebot), but it sounds like you want to control several turtlebots.

ahendrix gravatar image ahendrix  ( 2016-07-12 17:23:48 -0500 )edit

In either case, you should start by running the demo that is close to what you want to do, and then start reading that launch file and the launch files it contains to understand how it is set up.

ahendrix gravatar image ahendrix  ( 2016-07-12 17:24:57 -0500 )edit

Currently, I am working with 2 robots where the leader will 1) if the door is wide enough it will send no formation change 2) if the door is small but able to fit 1 robot it will send formation change.

Vinh K gravatar image Vinh K  ( 2016-07-13 08:04:59 -0500 )edit

what is the launch file for the turtlebot obstacle avoidance?

Vinh K gravatar image Vinh K  ( 2016-07-18 14:41:38 -0500 )edit

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Asked: 2016-07-12 08:14:24 -0500

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Last updated: Jul 12 '16