Nikos,

You'll probably want an additional costmap for your TrajectoryPlannerROS
object. It'll make things a lot easier to implement. Eventually, it'd be
nice to have the costmap be a nodelet that provides a ROS API that anyone
can use, but right now, its just a C++ library with ROS topics for
visualization... so having it in process will be important.

Hope this helps,

Eitan

On Wed, Jan 12, 2011 at 2:19 AM, Nikos Mitsou <nmitsou@lsr.ei.tum.de> wrote:

>
> 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>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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>>
>
>
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