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2019-05-20 01:14:47 -0500 marked best answer Implement obstacle avoidance methods and local navigation (move_base)

Hello,

I would like to implement obstacle avoidance methods in Turtlebot2 (Velocity obstacles, VFH+. APF,...). And I do not know if I have to use pluginlib and do as D. Lu did. That is, implement the interface named nav_core::BaseLocalPlanner and do planning in computeVelocityCommands method [1].

Or maybe, it requires to do something else such as modifying costmap_2d [2], add PoseStamped ?

So, does somebody may advise me on what should I do first, since I am a beginner using ROS ?

[1] https://github.com/DLu/simple_local_p...

[2] http://wiki.ros.org/costmap_2d

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2018-04-22 05:12:04 -0500 edited question Dwb local planner or standard navigation stack ?

Dwb local planner According to the D. Lu's github page and his video conference, Dwb local planner seems to be a good al

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2018-04-20 02:30:30 -0500 marked best answer Dwb local planner or standard navigation stack ?

According to the D. Lu's github page and his video conference, Dwb local planner seems to be a good alternative to the standard navigation implementation. Yet I wonder if anyone has tried it and if it is easier to use than the standard approach.

Currently, I am a little confused since M. Lu advises me to check the standard navigation stack

https://answers.ros.org/question/2869...

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2018-04-20 02:30:30 -0500 commented answer Dwb local planner or standard navigation stack ?

Ok, I will follow your advice.

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2018-04-19 04:25:13 -0500 edited question Dwb local planner or standard navigation stack ?

Dwb local planner According to the D. Lu's github page and his video conference, Dwb local planner seems to be a good al

2018-04-19 04:21:34 -0500 asked a question Dwb local planner or standard navigation stack ?

Dwb local planner According to the D. Lu's github page and his video conference, Dwb local planner seems to be a good al

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2018-04-17 08:40:04 -0500 commented question Local planner creation

I am also interested.

2018-04-17 08:26:18 -0500 commented answer Implement obstacle avoidance methods and local navigation (move_base)

Precisely, I need to modify only the local trajectory, I do not want to build an other motion controller. Concretely, I

2018-04-17 08:23:44 -0500 commented answer Implement obstacle avoidance methods and local navigation (move_base)

Hello Mr. Lu, I have found one of your latest work dwb_local_planner Do you think I can use it in order to make my own p

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2018-04-03 06:28:00 -0500 commented answer Implement obstacle avoidance methods and local navigation (move_base)

Any other implementation apart from elastic band or dynamic window ?

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2018-03-30 03:15:13 -0500 commented answer Implement obstacle avoidance methods and local navigation (move_base)

Thanks for answering, yet I did not get the idea : does it exist some obstacle avoidance procedures ? I think dynamic w

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2018-03-29 06:08:16 -0500 asked a question Implement obstacle avoidance methods and local navigation (move_base)

Implement obstacle avoidance methods and local navigation (move_base) Hello, I would like to implement obstacle avoidan