[ros-users] Navigation Stack without a Laser Sensor

Piyush piyushk at gmail.com
Tue Sep 27 14:52:40 UTC 2011

Thanks David! I will take a look at it.


On Tue, Sep 27, 2011 at 8:08 AM, David Feil-Seifer <dfseifer at usc.edu> wrote:
> Piyush-
> I have a stack, OIT, out of the usc-ros-pkgs repository which does
> exactly this. By detecting a target from an overhead camera, and
> utilizing an intrinsic calibration of the camera, an extrinsic
> calibration of the camera to the ground, and a line map of the
> environment (human generated), we are able to do exactly what you are
> saying.
> Documentation is rough currently, however. I am defending on Oct 19th
> and then I'm moving, so I won't be able to provide much direct support
> until after that.
> Try checking out the OIT at:
> https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg/trunk/OIT
> There are some launch files in the oit_launch package, and the code
> should all compile against diamondback (electric not yet tested, but
> should work).
> Good luck, and feel free to email me if you have problems, just
> understand if I don't respond right away.
> -Dave
> On Mon, Sep 26, 2011 at 11:21 PM, Piyush Khandelwal
> <piyushk at cs.utexas.edu> wrote:
>> Hello,
>> I have the following setup
>>  1) A differential drive robot
>>  2) Overhead localization from an external system.
>>  3) A static occupancy grid of the world (or some other
>> representation for the location of walls and obstacles) - any dynamic
>> obstacles are currently ignored.
>> I would like to use the ROS Navigation Stack for autonomously
>> navigating the robot around my lab, but the lack of a laser scanner
>> currently prohibits me from doing so. I can replace amcl with the
>> information provided by the overhead localization fairly simply, but
>> nav_core is highly dependent on the laser scan. Are there any options?
>> I can potentially publish the LaserScan message from the static map,
>> but I am not sure if this is the correct approach.
>> Thanks!
>> Piyush
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