Gancalo,
It should be possible to make the navigation stack aware of this information. As Dan mentioned, you can publish a LaserScan or PointCloud in-front of the cliff that will keep the robot from driving there. You'll just have to configure the costmap to take in this sensor data, for which the relevant documentation is here: http://www.ros.org/wiki/costmap_2d#Sensor_management_parameters
Hope this helps,
Eitan
One solution might be to take your cliff sensor data and publish a fake laser scan when your sensors tell you there's a cliff.-Dan2010/7/30 Gonçalo Cabrita <goncabrita@gmail.com>
_______________________________________________Hi everyone!I was wondering if it would be possible to easily feed cliff sensor data into the navigation stack (without changing it) so that a robot could avoid stairs for example.Gonçalo CabritaISR - University of CoimbraPortugal
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users
_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users