[ros-users] Cliff sensors on the navigation stack

[Dan Lazewatsky]

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 <goncabrita at gmail.com>

> 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 at 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 at 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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>>
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