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override default obstacle avoidance in turtlebot navigation

asked 2012-06-07 16:46:40 -0600

Yannis gravatar image

updated 2012-06-07 18:52:31 -0600

I have built an obstacle avoidance algorithm based on 3D optical flow via PointCloud on a TurtleBot platform. I would like to test it with the navigation stack but the obstacle avoidance is already implemented by default. I would like the robot to ignore the obstacles that are not on the map. Can I remove the automatic obstacle avoidance or deactivate it to plug in my node (or code) ? That would be of great help, since I don't have much time to write by myself whole global and local planners. If I set the static_map parameter of local_costmap_params.yaml to true, will it do the trick ? Thank you for your suggestions.

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3D optical flow is interesting... could you make the code available for people to use.

karthik gravatar imagekarthik ( 2012-06-07 17:54:04 -0600 )edit

I cannot release my code for now, it's still in development, but I will as soon as I finish my project.

Yannis gravatar imageYannis ( 2012-06-07 18:58:01 -0600 )edit

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answered 2012-07-08 18:15:17 -0600

Yannis gravatar image

To "remove" the automatic obstacle avoidance on the amcl navigation, I modified a setting : obstacle_range in turtlebot_navigation package, in costmap_common_params.yaml. So I put it to 0.05, like that no obstacle will be detected unless it's almost touching the robot.

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Asked: 2012-06-07 16:46:40 -0600

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Last updated: Jul 08 '12