[ros-users] human approach

[Eitan Marder-Eppstein]

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 at 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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