Carefully approach obstacle and ignore costmap?
Hi folks,
please imagine the following situation: my robot shall drive close to a specific object on the map, say, a shelf or something like that. It shall move to a pretty precise position relative to the shelf, turn its rear side parallel to the shelf's front and move backwards to about 5mm from the shelf. It then shall perform some special actions like moving an arm, opening a hatch, pulling something from the shelf in and stuff like that... doesn't really matter, actually (I know, that can be achieved by use of smach for example).
My question however is how to make the robot move to that specific position, turn around and set back to the given distance (or other similar tasks)? Assuming that there is a set of sensors available that measure the distance to the cabinet it most likely has got to be some kind of control loop, right? And I suppose, they are already implemented in some stack/package coming with ROS.
So what packages/stacks of ROS can be used for that? Is move_base still applicable for tasks like this, where obstacle avoidance and complex path planning isn't needed, but instead just slowly moving to reach a given distance from an object?
Another question that might be pretty much the same answer is: how do I make my robot follow a wall for a given length, keeping a given distance? I suppose it's the same or at least a similar principle, hence no seperate question.
Thanks a lot!
Cheers, Hendrik
