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dynamic obstacle tracking and detection in 2D env in RViz ROS

           Hello Guys, I am new to ROS. For a project I am working on I need a package that detects the obstacle as well as determines its velocity with its direction in 2D in ROS Rviz (Top view) or Gazebo. Can anyone please suggest some ideas or packages available to use?

The link is an example of obstacle detection, I want something like that with its velocity and direction detected w.r.t to the subject.

https://github.com/tysik/obstacle_detector

Asked by Nagarjun on 2020-09-25 18:04:33 UTC

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Answers

Check out the costmap converter that comes with the TEB local planner tutorials Track and include dynamic obstacles via costmap_converter. I have found this is quick and easy to get up and running, assuming you can become familiar with the TEB packages, it should provide you what you want.

Asked by JackB on 2020-09-25 19:55:51 UTC

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@Nagarjun did you find a solution for your problem, or any promising leads, that you share with us here?

Asked by JackB on 2020-09-28 10:17:41 UTC

Thank you @JackB for your answer, but I think its not teb package is not useful. The teb package creates a trajectory for the obstacles based on the start and end goal and navigates the robot.

I require to detect the dynamic obstacle but not navigate through it. For navigation, I use another package called ORCA. which requires knowledge of the obstacle velocity and position when detected along with its radius.

I need to detect using a laser scan for dynamic obstacles, I can also use camera sensors. I require a package which when deployed in any gazebo environment able to detect dynamic obstacles and provides its velocity.

Please post the answer if you know anything about it?

Asked by Nagarjun on 2020-10-15 17:21:13 UTC

A year or two ago I manager to extract just the obstacle tracking part of the planner, and not use the planner. Maybe I did it wrong, but I think it should be possible to separate the planner from the obstacle avoidance.

Asked by JackB on 2020-10-15 23:27:08 UTC

@JackB I am having trouble using the costmap_converter with teb_local_planner to avoid dynamic obstacle. I asked a question here but no one has answered yet. Please help me use the costmap_converter plugin

Asked by Shivam on 2023-01-06 12:33:23 UTC