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How to mark a given location as obstacle

asked 2013-10-22 09:03:02 -0500

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Right now i have a robot that stops when it detects a person. I need to be able to mark a coordinate as obstacles, even though it still is not an obstacle. This is because im predicting the behavior of the person so i need to mark as obstacles the path i think it will walk. Any ideas how to accomplish this? Can i just add an obstacle on the obstacle topic? and if so how can i manage this? Also i found out you can change the laserscan to add the new arbitrary obstacle here is this a possibility? Thanks

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Consider discussing this at!forum/ros-sig-navigation , the navigation SIG.

KruseT gravatar image KruseT  ( 2013-10-23 01:51:01 -0500 )edit

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answered 2013-10-22 20:45:16 -0500

Hendrik Wiese gravatar image

If you are using Hydromedusa you could create a costmap2d layer that increases cost along the predicted path of the moving obstacle.

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right now im using fuerte, is there a way to do it in fuerte? Thanks

ctguell gravatar image ctguell  ( 2013-10-23 05:36:12 -0500 )edit

For costmap2d layers you'll need Hydro. I assume there is a way to achieve it in Fuerte as well, but I'm afraid I have no idea how.

Hendrik Wiese gravatar image Hendrik Wiese  ( 2013-10-23 07:20:49 -0500 )edit

@Hendrik _SeveQ_ Wiese@KruseT instead of using a layered costmap is it possible to just "change" the obstacle topic to add new obstacles?

ctguell gravatar image ctguell  ( 2013-10-29 03:03:43 -0500 )edit

i would like to know how to use this to detect dynamic targets

VEGETA gravatar image VEGETA  ( 2016-05-30 10:07:16 -0500 )edit

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Asked: 2013-10-22 09:03:02 -0500

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Last updated: Oct 29 '13