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Implement obstacle avoidance methods and local navigation (move_base)

asked 2018-03-29 04:15:18 -0500

sustainable gravatar image


I would like to implement obstacle avoidance methods in Turtlebot2 (Velocity obstacles, VFH+. APF,...). And I do not know if I have to use pluginlib and do as D. Lu did. That is, implement the interface named nav_core::BaseLocalPlanner and do planning in computeVelocityCommands method [1].

Or maybe, it requires to do something else such as modifying costmap_2d [2], add PoseStamped ?

So, does somebody may advise me on what should I do first, since I am a beginner using ROS ?



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answered 2018-03-29 11:31:43 -0500

David Lu gravatar image

There is an existing configuration here:

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Thanks for answering, yet I did not get the idea : does it exist some obstacle avoidance procedures ? I think dynamic window is not robust against moving obstacles, am I wrong ? If I can reformulate my ask : where [in the code] should I put the local trajectory to do obstacle avoidance ?

sustainable gravatar imagesustainable ( 2018-03-30 03:15:13 -0500 )edit

Any other implementation apart from elastic band or dynamic window ?

sustainable gravatar imagesustainable ( 2018-04-03 06:28:00 -0500 )edit

Hello Mr. Lu, I have found one of your latest work dwb_local_planner Do you think I can use it in order to make my own planner ? Precisely, I need to modify only the local trajectory, I do not want to build an other m

sustainable gravatar imagesustainable ( 2018-04-17 08:23:44 -0500 )edit

Precisely, I need to modify only the local trajectory, I do not want to build an other motion controller. Concretely, I just want to give a list of PoseStamped that I have computed from a Costmap layer and current position.

sustainable gravatar imagesustainable ( 2018-04-17 08:26:18 -0500 )edit

As I advised in the other thread, it will be easiest if you get a working nav configuration first, and then start tinkering with adding additional methods. Dynamic window isn't ideal for moving obstacles, but it still does pretty well.

David Lu gravatar imageDavid Lu ( 2018-04-19 11:19:10 -0500 )edit

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Asked: 2018-03-29 04:15:18 -0500

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Last updated: Mar 29 '18