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Multi-robot Navigation - Cooperative Navigation

asked 2018-07-03 02:02:25 -0500

MandeepSingh
46 ●4 ●6 ●11

I have setup navigation stack successfully . I have following configuration :

Mutiple bots under different namespaces
Seperate Planners for individual bots
Static Map generated before-hand
No laser scans, only gps and odometry

I want bots to avoid colliding into each other. I think the navigation stack doesn't have such a capability yet. Avoidance based upon location of there neighbour bots.

Is there any way navigation package provides that utility?

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I think you have to write your own algorithm to do same.

simbha ( 2018-07-03 02:29:16 -0500 )edit

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answered 2018-07-12 03:41:18 -0500

MandeepSingh
46 ●4 ●6 ●11

updated 2018-07-12 03:41:36 -0500

So I have figured a way out, I am using social navigation layer in creating my CostMap. Though it requires lidar scans to look for people, since my robots are connected over internet I am subscribing to their poses and publishing onto people topic which navigation layer uses.

So I can do co-operative navigation using GPS and network only.

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Asked: 2018-07-03 02:02:25 -0500

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Last updated: Jul 12 '18

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Multi-robot Navigation - Cooperative Navigation