Navigation 2 - bumper sensor
Hi!
I'm using Navigation 2 on ROS 2 with slam_toolbox and I'm able to successfully navigate my robot inside my apartment, yay!
One of the small problems that I have is that my lidar is located about 15 cm above the ground so it can't detect stuff like shoes and other low obstacles.
I'd like to add a bumper sensor with 2 switches - one on the left side and another on the right.
Mechanically it's an easy thing to do, but how do I integrate it with Navigation 2?
What would be the best approach? Is there a library already? I have a feeling it would have something to do with a local cost map, but I'm very new to this, so not sure.
Asked by Leonti on 2020-07-21 02:07:24 UTC
Answers
Collision avoidance problems aren't the same as mapping problems. SLAM Toolbox is a 2D lidar SLAM solution, it will not take in bumpers as inputs.
Asked by stevemacenski on 2020-12-21 01:27:46 UTC
Comments
I'm not saying that I'd like SLAM Toolbox (which works great by the way) to take bumpers as inputs, I was just mentioning it because that's what I'm using for mapping to give more context. I think collision avoidance is still part of Navigation stack, so I was asking how do I integrate bumper inputs with Navigation stack in general, not with SLAM Toolbox.
Asked by Leonti on 2020-12-21 05:22:08 UTC
Ah got it, you can process it as a range sensor layer instance, which is in Nav2 now. You could also use an obstacle layer instance but I think range is more appropriate.
Asked by stevemacenski on 2020-12-21 11:13:10 UTC
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