Teb_local_planner handling static obstacles that are not in the map?

Hey, i am trying to use the teblocalplanner to avoid static humans which are not part of the map. I noticed the teblocalplanner has a recently added capability for handling non-zero velocity dynamic obstacles in this http://wiki.ros.org/teb_local_planner/Tutorials/Incorporate%20dynamic%20obstacles. But how to handle the zero velocity obstacles using teb local planner.

Publish the constant position to \obstacles topic doesn't help much. Any help would be better. Thanks in advance.

Asked by vignesh on 2018-11-05 06:15:02 UTC

Comments

Answers

Just set the parameter include_dynamic_obstacles as default value (bool, default: false). TEB is a local planner, it will detect the new obstacles that not appearing in global map, you can also see the effect by Rviz with local_costmap . So just use it and it will works!

Asked by ZengLei on 2018-11-07 04:00:42 UTC