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How ROS navigation stack understands that there is a robot in front of the robot?

asked 2018-05-11 07:16:32 -0500

Developer gravatar image

Hi

How ROS navigation stack understands that there is a robot in front of the robot? Laser sensors help for it, but which is the specific function of navigation stack that deals with it.

Thanks

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answered 2018-05-11 13:24:50 -0500

David Lu gravatar image

The standard navigation stack has no way other than through sensor data to know that there is another robot in front of it. Other than using the real sensor data, you could

  • Create custom sensor data that the other robot publishes to declare its presence
  • Write a custom plugin that uses a custom data type to integrate the other robot's position.
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Thanks for the answer. Actually, I m okay avoidance with laser-sensor. But what I want to manipulate DWA local planner. I want robot to generate zero velocity(just stop), if it interfaces with a dynamic object.Thus, I would like to learn which specific function is responsible from collision awarene

Developer gravatar image Developer  ( 2018-05-12 03:34:15 -0500 )edit

There's a couple different places it could go, depending on what you want to do. Not to just plug myself, but have you seen my talk on local planning?

David Lu gravatar image David Lu  ( 2018-05-14 11:20:34 -0500 )edit

thanks!very good talk! I want to integrate Ackerman-Robot into my multi-robot system.DWA does not generate proper velocities for that.So,I want to stop robot,if it interfaces with a dynamic object and after this object is cleaned up from cost_map,Robot should move on.In this way I try to hack DWA.

Developer gravatar image Developer  ( 2018-05-14 14:37:54 -0500 )edit

or Do you have another proposal regarding this issue?

Developer gravatar image Developer  ( 2018-05-14 15:28:26 -0500 )edit

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Asked: 2018-05-11 07:16:32 -0500

Seen: 137 times

Last updated: May 11 '18