Obstacle free 2d Navigation - Navigation Stack

asked 2017-10-11 04:34:09 -0500

phil333 gravatar image


I am working on implementing an indoor rover. I have successfully implemented a /cmd_vel topic for commanding, as well as /odom for localization. Next I want to have a path planning service and I looked at Move_Base but it requires a laser scanner or at least a pointcloud.

Is there a way to use Move_base with an empty map? Or is there an alternative for obstacle-free differential drive navigation?

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I used this one http://wiki.ros.org/pr2_controllers/T... Please take a look at this for starting a simple driveForward() function and rly understand! After doing, map-based nav could be the next big topic for you

glukon gravatar image glukon  ( 2017-10-11 09:24:14 -0500 )edit

You can configure the navigation stack for use without any obstacle layer, the question is why? You will almost certainly crash into something, so I don't see any point in path planning.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-10-12 02:27:33 -0500 )edit

I think you should add more information about your rover, e.g. are there any sonar/infrared sensors that can be used? Or maybe a 3d camera?

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-10-12 02:28:19 -0500 )edit

It is a rover that is controlled remotely. The point in path planning is that you can tell the rover to move to a relative position from its current position without having to contentiously steer it. It has a stereo camera giving visual odometry, but doesn't need to get around obstacles by itself.

phil333 gravatar image phil333  ( 2017-10-12 02:48:34 -0500 )edit

I still thing path planning is a bit waste of resources, sounds more like a job for a simple path follower, e.g. pure pursuit or follow-the-carrot

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-10-12 11:34:26 -0500 )edit

ye, anything that will do this is welcome, will test those two packages. If you have any other recommendations, feel free to share

phil333 gravatar image phil333  ( 2017-10-12 13:05:37 -0500 )edit