Stop the robot if an obstacle is detected

asked 2017-07-20 02:42:43 -0600

Deepika gravatar image

Hi, I am using the ROS navigation stack for navigating my robot in a closed environment. If a dynamic obstacle is detected while the robot is moving, it does the re-planning to calculate an alternate route. I want to override this behaviour and just stop the robot till that dynamic obstacle is present and then move forward once the obstacle is cleared. Is this possible? Any configurations which I can tweak to achieve this behaviour would be of great help. Thanks Deepika

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Comments

that is not that easy as it seems. for starters, what is a dynamic obstacle and how can you differentiate it from static ones, from the robot perspective?

Procópio gravatar imageProcópio ( 2017-07-20 10:05:41 -0600 )edit

By the term 'dynamic obstacle' , I meant those obstacles that are not part of my static map provided to global planner. They are movable/static entities and detected by local planner that leads to re- routing of the planner trajectory. I want to stop this re- routing. Also, I am not using SLAM.

Deepika gravatar imageDeepika ( 2017-07-20 11:22:33 -0600 )edit

Hi @Deepika did you find any solution to differentiate dynamic obstacles from static map?

Dharmateja Kadem gravatar imageDharmateja Kadem ( 2017-11-25 00:52:50 -0600 )edit