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Navigation 2 - bumper sensor

asked 2020-07-21 02:07:24 -0500

Leonti gravatar image

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.

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answered 2020-12-21 00:27:46 -0500

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.

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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.

Leonti gravatar image Leonti  ( 2020-12-21 04:22:08 -0500 )edit

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.

stevemacenski gravatar image stevemacenski  ( 2020-12-21 10:13:10 -0500 )edit

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Asked: 2020-07-21 02:07:24 -0500

Seen: 186 times

Last updated: Dec 21 '20