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.