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create moving obstacles in stage simulator

asked 2017-04-23 16:45:33 -0600

g1y5x3 gravatar image


I am currently working on a project that needs to test a path planning algorithm in a environment with moving obstacles. I am wondering is there any way to create a obstacle in stage that could do some random movements?


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answered 2017-04-23 19:00:24 -0600

Geoff gravatar image

updated 2017-04-24 19:31:57 -0600

Stage has some support for built-in controllers. There is a randomly-wandering controller included. You can use this to create moving obstacles by adding additional robots that are controlled by the wander controller (or your own controller, if you want a different type of motion).

If you can't use the inbuilt wander controller, an alternative is to add multiple robots to stage and control them using a ROS node that makes them wander in the way you want. This github repository has samples for using multiple robots in Stage.

Your wander node could either use a map and the navigation stack to randomly set goals (like this old package, or it could be a simple ranger-based movement that moves randomly while not running into things.

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I have looked into it. But the tutorial is for ROS electric and I tried on kinetic but it doesn't seem working now. Is there any difference when installing the stage_controller into ROS kinetic?

g1y5x3 gravatar image g1y5x3  ( 2017-04-24 13:36:45 -0600 )edit

The tutorial is for Electric but the wander controller is still included in Kinetic. Unfortunately it appears that stage_ros has a bug that makes the controller ineffective: You need to comment out that line to use the wander controller.

Geoff gravatar image Geoff  ( 2017-04-24 19:29:16 -0600 )edit

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Asked: 2017-04-23 16:45:33 -0600

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Last updated: Apr 24 '17