Potential Fields - Obstacle Avoidance

Hello, I am trying to write a node that escapes obstacles with potential fields method for EvA Robot. But I am confused about something. [1]Sensors suppose to detect obstacles and let the node know there is an obstacle. Then node should do his trick (obstacle avoidance with potential field method). I don't understand [1]. Any tutorial or something for this? I am using gazebo.

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About [1]: start the respective (simulated) sensors, you should then get the respective sensor topics. Subscribe to those in the node that you actually plan to use. move_base does this for you and adds the sensor data to a costmap which is more persistent then only the last sensor readings. I guess it would be worth to read up on this....