3D Navigation; Robot plans to go into areas of potential collision

asked 2017-10-09 02:58:14 -0500

Till Chima gravatar image

Hello there, I am using a Quadrocopter which I am able to navigate using the Navigation Stack. The robot is capable of knowing its own position and orientation due to a marker based predefined map. In the costmap I defined the robots positon as the "base_footprint" so that a 2D Navigation with a constant flight height should work. My problem is, that I don't have any sensors on the robot that indicate distances to objects (i.e. lasersensors), therefore I created my own costmap using some photo-editor. I simply set the no-go zones in the picture to the intensity of 254 (Lethal obstacle) and any other points to 255 (no_information), so that the robot should prefer going to cells of value 255, and should try to avoid cells of 254. Using Rviz and watching the local and global plan one can see that the Robot does NOT try to avoid these cells.

I would like to know the changes I can apply to my costmap, so that it will be avoid these cells.

Best Regards, Till

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please post an image of your costmaps, I'll give you karma to do that.

Procópio gravatar image Procópio  ( 2017-11-16 02:37:34 -0500 )edit