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The use of ros navigation stack in dynamic environment

asked 2016-07-18 10:00:32 -0500

A.M Dynamics gravatar image

Hello All,

I need to use the ROS navigation stack for the environment with moving objects. Does anybody know if this stack handles such condition? If not, is there any package for this purpose?

Any suggestion is appreciated.

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answered 2018-06-15 11:41:50 -0500

croesmann gravatar image

updated 2018-06-15 11:43:12 -0500

The teb_local_planner package has now support for dynamic obstacles based on a constant velocity model.

You can find two new tutorials on that topic in the tutorials section.

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answered 2016-07-18 10:25:40 -0500

David Lu gravatar image

It does, by replanning constantly. It does not explicitly model dynamic obstacles.

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How a constant replanning can solve this situation when moving objects cannot declared in the map of environment?

A.M Dynamics gravatar image A.M Dynamics  ( 2016-07-18 11:01:29 -0500 )edit

Ideally, the initial map is for static obstacles (stuff like walls and furniture that's less likely to be moved). The local planner will re-plan constantly to avoid dynamic obstacles. Eventually, the robot controller tries to get to this re-planned point.

2ROS0 gravatar image 2ROS0  ( 2016-07-18 11:22:10 -0500 )edit

@2ROS0: thanks, so you are clearly saying that with the use of this stack the robot can avoid moving objects implicitly without any major problem?

A.M Dynamics gravatar image A.M Dynamics  ( 2016-07-18 13:02:19 -0500 )edit

Yes, by populating the costmap with sensor info.

David Lu gravatar image David Lu  ( 2016-07-18 17:16:06 -0500 )edit

@David Lu: Thanks. Would you please clarify your answer precisely? I am using Lidar sensor (Hokuyo sensor) for observing environment. In this case, what do I do exactly? what you mentioned is a technique? How can i exposed cosmap with sensor info?

A.M Dynamics gravatar image A.M Dynamics  ( 2016-07-18 18:53:08 -0500 )edit

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Asked: 2016-07-18 10:00:32 -0500

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Last updated: Jun 15 '18