I'm curious to hear how it goes. We have some iRobot Creates which I'm interested to get running with the nav stack. -Dan 2010/7/30 Gonçalo Cabrita > 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 Cabrita > ISR - University of Coimbra > Portugal > > On 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, > > 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 >> >>> 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 >>> >>> _______________________________________________ >>> 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 > >