Exclude obstacles from Navigation Stack

asked 2019-07-01 11:42:35 -0600

kurshakuz gravatar image

Hello everyone!

Is there any way to ignore almost static obstacles read from laser scan and sent to navigation stack? My robot's task is to lift objects and navigate with them to other location. Before lift they are defined as obstacles and added to costmap, which is absolutely fine, but after lift they prevent robot from proper navigation. Is there any way to exclude some obstacles from the costmaps?

Their distance is varying in some defined range.

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I thought about adding a laser_scan_filter which will exclude readings from this particular distance, but I am not sure if this is the best way to solve this problem. Any other suggestions?

kurshakuz gravatar imagekurshakuz ( 2019-07-01 11:45:07 -0600 )edit

anything that you dont want to mess with the navigation should not end up in the costmap. A laser scan filter is a one way to go

pavel92 gravatar imagepavel92 ( 2019-07-02 02:46:55 -0600 )edit