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ROS Navigation

asked 2013-09-05 20:28:34 -0600

RB gravatar image

- question 1::::: Obstacle detection or navigation exists in ROS; can I implement my own navigation algorithm. Whether it will create problem with existing navigation algorithms? Or am I allowed to change any code in ROS. Suppose I want to generate a behavior which will guide me to perform an action. Will there be problem if any behavior generation scheme already exists in any of the controllers.

question 2::: If I go for both autonomy and teleop; will it be a problem for ROS?

Consider a situation like earthquake comes and person in the wheelchair fainted; then wheelchair automatically detects the movement of the objects by motion sensor and afterwards it has to find the door. In general he/she will control the wheelchair in teleop mode.

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answered 2013-09-06 00:01:15 -0600

dornhege gravatar image

You can replace any part of the navigation stack that you want. Mostly it's plugins, which you can create from scratch or build on the provided ones.

For autonomy and teleop you only need to make sure that both don't interfere, i.e. somewhere you need to decide, which commands get priority.

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answered 2013-09-07 05:36:23 -0600

Dereck gravatar image

I wrote a simple mux for allowing both navigation and teleop commands to control a robot, it's a pretty simple process, here's an example for you to get your feet wet:

[https://github.com/dawonn/ros-pioneer3at/blob/master/scripts/mux_cmdvel]

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There is also cmd_vel_mux http://wiki.ros.org/cmd_vel_mux, used in the turtlebot config.

dornhege gravatar imagedornhege ( 2013-09-08 06:59:56 -0600 )edit

That is a much better solution than my silly script! I'm probably going to convert my robot to that. :) Thanks.

Dereck gravatar imageDereck ( 2013-09-08 07:39:56 -0600 )edit

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Asked: 2013-09-05 20:28:34 -0600

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Last updated: Sep 07 '13