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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