Turtlebot Gazebo Information about pushing objects
Hello Guys,
is there a way how i can get information if my robot can push an object or he can't. I am using Gazebo 7.0 with Ros Kinetic turtlebot package.
I looked in odom but i didn´t find anything whats helps me with my problem.
Is there a topic that will help me with the problem?
Maybe with wheel movement ?
To clear the meaning of pushing : My robot drive into an object some objects he can move and some he can't. I need a parameter to decide which objects he can push away and which he can't.
Maybe I can solve this with my Slam Map. I can get the position if my robot and I can compare it with the object position. If the robot push away the object he should stand in the object position or am I wrong ?
Could you clarify what you mean by "can push an object"? Do you want to know whether the object is movable, whether the object is currently moving, whether there is contact between the robot and the object, whether the robot is trying to push but the object won't move...?
It's the third point I need to know when my robot tries to push an object if the objects moves or the object don't move. The contact between robot and object I can get from number sensors. So far I got this.