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Dynamic obstacles inflation layer configuration

asked 2019-09-27 02:29:40 -0500

schizzz8 gravatar image

Hi all,

I'd like to implement an algorithm for dynamic obstacles detection with a 2D laser. For "dynamic" I mean all obstacle points that are not represented in the map (i.e., they fall in a white area of the occupancy grid), like people legs or objects that suddenly appear in front of the robot.

Assuming that I have a "filtered" scan (made of points belonging only to dynamic obstacles), my idea was to apply an higher inflation to these obstacles, so that the planner chooses to stay further away from them.

From to the wiki it looks like it's not possible to specify an input source for the inflation layer, therefore it seems to me that for each costmap (global and local) it's possible to specify at most one inflation layer. Is it correct?

Can please someone point me out a solution to this problem?

Thanks.

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answered 2019-09-28 15:31:30 -0500

David Lu gravatar image

You'll want to use an obstacle layer between your static map and inflation layer.

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This would not apply the same inflation to both the static map and the dynamic obstacles? I guess I didn't clarified enough this aspect in my question. My final goal is to apply two different inflations: one for walls and static objects in the map (lower) and one for dynamic obstacles (higher). Does your solution allow this?

schizzz8 gravatar imageschizzz8 ( 2019-09-30 03:00:23 -0500 )edit
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There's not a great way to do this, at the moment.

David Lu gravatar imageDavid Lu ( 2019-10-01 13:44:31 -0500 )edit

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Asked: 2019-09-27 02:29:40 -0500

Seen: 14 times

Last updated: Sep 28