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Hi,
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?
Thanks!
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).
http://wiki.ros.org/stage/Tutorials/I...
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.
https://github.com/gergia/multiple_tu...
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.
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: https://github.com/ros-simulation/sta... You need to comment out that line to use the wander controller.
Asked: 2017-04-23 16:45:33 -0500
Seen: 1,273 times
Last updated: Apr 24 '17
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