Avoiding downward stairs using Kinect and navigation stack?

asked 2017-04-24 11:53:36 -0500

femtogram gravatar image


I've been looking for some information on avoiding downward stairs and dropoffs using the ros navigation stack. What do people typically do? Do they just make their own costmap layer for cliffs (pointcloud values where z < 0)? Or is there a better way? I couldn't find any packages or any mention of this in the costmap documentation.


edit retag flag offensive close merge delete



Creating a new costmap layer to mark these "negative z" objects sounds like a good approach to me.

DavidN gravatar image DavidN  ( 2017-04-24 23:01:27 -0500 )edit

I like the approache by @DavidN Would be interesting how to account for noise, though. What is often done, though, is with a sperate simple (ultrasound, distance, ...) sensor pointing downwards

mgruhler gravatar image mgruhler  ( 2017-04-25 08:54:39 -0500 )edit

Hey @femtogram have you solved how to create that layer for costmap_2d package? I'm interested in avoiding downstairs. If you have successfully made that, please I'd like to know how. Thanks

gerson_n gravatar image gerson_n  ( 2018-04-20 00:40:36 -0500 )edit