Ask Your Question
1

How to mark a given location as obstacle

asked 2013-10-22 09:03:02 -0600

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

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

edit retag flag offensive close merge delete

Comments

Consider discussing this at https://groups.google.com/forum/?fromgroups=#!forum/ros-sig-navigation , the navigation SIG.

KruseT gravatar imageKruseT ( 2013-10-23 01:51:01 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2013-10-22 20:45:16 -0600

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.

edit flag offensive delete link more

Comments

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

ctguell gravatar imagectguell ( 2013-10-23 05:36:12 -0600 )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 imageHendrik Wiese ( 2013-10-23 07:20:49 -0600 )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 imagectguell ( 2013-10-29 03:03:43 -0600 )edit

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

VEGETA gravatar imageVEGETA ( 2016-05-30 10:07:16 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

4 followers

Stats

Asked: 2013-10-22 09:03:02 -0600

Seen: 320 times

Last updated: Oct 29 '13