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Teb_local_planner handling static obstacles that are not in the map?

asked 2018-11-05 05:15:02 -0500

vignesh gravatar image

Hey, i am trying to use the teb_local_planner to avoid static humans which are not part of the map. I noticed the teb_local_planner has a recently added capability for handling non-zero velocity dynamic obstacles in this . 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.

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answered 2018-11-07 03:00:42 -0500

ZengLei gravatar image

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!

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Asked: 2018-11-05 05:15:02 -0500

Seen: 244 times

Last updated: Nov 05 '18