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Possible to require a replan if sensor is triggered?

asked 2021-07-21 10:39:44 -0500

Skhanna gravatar image

I have a fixed distance ultrasonic sensor that has a significant blind spot in its use (I am unable to swap this sensor or change this location). If I were to incorporate it into the ROS navigation stack, the robot will try to evade an obstacle, but then just crash into the side of the obstacle.

A better solution for the environment we will be handling currently is to have the robot stop completely if the Ultrsonic is triggered. If some time passes as the Ultrasound is still triggered, the robot will replan and try a different corridor altogether. At no point should the robot even attempt to pass the obstacle in question.

Is it possible for such an implementation to be done while still working with a tradition ROS navigation stack? How would I go about doing so?

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answered 2021-07-25 11:58:12 -0500

fergs gravatar image

This isn't really a feature of the navigation stack itself - I'd suggest that whatever logic/node you have sending the initial goals to the ROS Navigation stack incorporate this logic. Since navigation uses a ROS Action interface, you can cancel the current goal and then send a new one when you want.

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Asked: 2021-07-21 10:39:44 -0500

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Last updated: Jul 25 '21