Ask Your Question
0

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

asked 2016-07-12 08:14:24 -0600

Vinh K gravatar image

updated 2016-07-12 08:21:42 -0600

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.

Thanks

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2016-07-12 14:26:35 -0600

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.

edit flag offensive delete link more

Comments

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

Vinh K gravatar imageVinh K ( 2016-07-12 14:30:04 -0600 )edit

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

ahendrix gravatar imageahendrix ( 2016-07-12 14:33:13 -0600 )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 imageVinh K ( 2016-07-12 14:35:03 -0600 )edit

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

Vinh K gravatar imageVinh K ( 2016-07-12 15:16:47 -0600 )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 imageahendrix ( 2016-07-12 17:23:48 -0600 )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 imageahendrix ( 2016-07-12 17:24:57 -0600 )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 imageVinh K ( 2016-07-13 08:04:59 -0600 )edit

what is the launch file for the turtlebot obstacle avoidance?

Vinh K gravatar imageVinh K ( 2016-07-18 14:41:38 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2016-07-12 08:14:24 -0600

Seen: 87 times

Last updated: Jul 12 '16