Thanks Eitan, this helps a lot.
Yes, I do care about obstacles.
Will I have to preserve an additional costmap for my 
TrajectoryPlannerRos object or should I read the costmaps from move_base?
Nikos

On 01/11/2011 06:31 PM, Eitan Marder-Eppstein wrote:
> Nikos,
>
> If you don't care whether or not the robot avoids obstacles, you can 
> just send velocity commands directly to the robot. If you do care 
> about avoiding obstacles, and you want control of what velocity 
> commands get sent to the base, you can instantiate a 
> TrajetoryPlannerROS object within your code and use the 
> "checkTrajectory" function 
> (http://www.ros.org/doc/api/base_local_planner/html/classbase__local__planner_1_1TrajectoryPlannerROS.html#a9155bebb3d073ae4b19b8d0da87478a6) 
> to decide whether or not that velocity command is legal. Then, you can 
> either send it on to the base, or decide to stop.
>
> Hope this helps,
>
> Eitan
>
> On Tue, Jan 11, 2011 at 4:32 AM, Nikos Mitsou <nmitsou@lsr.ei.tum.de 
> <mailto:nmitsou@lsr.ei.tum.de>> wrote:
>
>     Hello everyone,
>     My mobile robot needs to interact with humans...
>     In order to do that it has to approach a person in a user-friendly
>     way.
>     This means that the robot should follow a very specific trajectory
>     that
>     considers social aspects,
>     for example: the robot should approach a person face to face, the
>     trajectory should be smooth with specific velocities etc.
>
>     We can calculate the desire trajectory for free space but we don't
>     know
>     how to make the robot follow it.
>     One solution we are considering is to send multiple goals to move
>     base.
>
>     Another problem here is that a goal might happen to be inside or very
>     close to an obstacle and thus the low lever planner will probably
>     design
>     an undesirable trajectory.
>
>     Do you have any suggestion towards this problem?
>     Thanks in advance
>     Nikos
>
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