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

On 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.
>
> -Dan
>
> 2010/7/30 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 Cabrita
>> ISR - University of Coimbra
>> Portugal
>>
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