I'm curious to hear how it goes. We have some iRobot Creates which I'm interested to get running with the nav stack.
Thanks Eitan and Dan!I'll try that first thing on monday and report back what happens.Our robots, the Roombas, have 4 cliff sensors. I believe using PointCloud is more "legitimate" than faking a laser, so my question is, will a point per cliff sensor suffice, how should I but more per sensor?Gonçalo CabritaISR - University of CoimbraPortugalOn Jul 30, 2010, at 7:33 PM, Eitan Marder-Eppstein wrote: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,
EitanOn Fri, Jul 30, 2010 at 10:26 AM, Dan Lazewatsky <lazewatskyd@cse.wustl.edu> wrote:
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
_______________________________________________
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