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Obstacle information to MoveIt !!

asked 2018-08-15 14:55:08 -0500

zubair
178 ●24 ●27 ●33

Hello guys

I am using Ardrone and i am also successfully able to plan trajectory using Moveit. Now I have a obstacle detection ROS node which is giving the coordinates of the obstacle in front. My doubt is how to actually feed this co-ordinate information to Moveit (ardrone), so as to get a obstacle free path. I know that i can actually use point cloud but i don't want to use that, I just want to publish those obstacle coordinates onto a topic to feed Moveit with that information. I am using /ardrone/camera/image_raw topic.

Any suggestions !!

Thanks all.

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Any suggestion guys

zubair ( 2018-08-19 10:51:43 -0500 )edit

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answered 2020-02-29 06:36:06 -0500

fvd
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You can publish a mesh or an octomap to the PlanningScene, which will be used as obstacles. If you only have an RGB image on your drone, you cannot simply publish that as an obstacle. You will need to detect the obstacle and its position somehow. That part is computer vision question.

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Asked: 2018-08-15 14:55:08 -0500

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Last updated: Feb 29 '20

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Obstacle information to MoveIt !!