ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Navigation 2 - bumper sensor

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

Leonti gravatar image


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.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

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.

edit flag offensive delete link more


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

Question Tools

1 follower


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

Seen: 303 times

Last updated: Dec 21 '20