Advice above on the SMACH module

asked 2020-09-01 09:07:33 -0500

kane_choigo gravatar image

Hello, I'm using ROS kinetic with Ubuntu 16.04.

Recently I started to make utilize smach module in my works.

Unfortunately, because it is the first time to learn smach module, I can't fully understand that module.

In my case, I'm making mobile robot navigation with reinforcement learning, and in order to train the robot with rather complicated conditions, it is necessary to make some obstacles or walls in the simulation environment; gazebo.

However, when the target-goal point is created around the obstacle within 0.1 m, the robot has no choice but to collide with it to implement its mission.

I heard that smach module can re-place that goal point at another point when I want to do that.

I've also read the tutorials of ROS wiki, but I still have no idea to utilize it.

Would it be necessary to know where the obstacles are (I mean, their cartesian coordinates) to re-assign the goal point?

If anyone who is familiar with smach module is happened to be here, would you please give me helpful advice?

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