<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html>
<head>
<meta content="text/html; charset=ISO-8859-1"
http-equiv="Content-Type">
</head>
<body bgcolor="#ffffff" text="#000000">
<br>
Thanks Eitan, this helps a lot.<br>
Yes, I do care about obstacles.<br>
Will I have to preserve an additional costmap for my
TrajectoryPlannerRos object or should I read the costmaps from
move_base?<br>
Nikos<br>
<br>
On 01/11/2011 06:31 PM, Eitan Marder-Eppstein wrote:
<blockquote
cite="mid:AANLkTi=OkdaaYZkH7vz4JGx4DnY7b4s2BUA6JBnOufbq@mail.gmail.com"
type="cite">Nikos,
<div><br>
</div>
<div>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 (<a moz-do-not-send="true"
href="http://www.ros.org/doc/api/base_local_planner/html/classbase__local__planner_1_1TrajectoryPlannerROS.html#a9155bebb3d073ae4b19b8d0da87478a6">http://www.ros.org/doc/api/base_local_planner/html/classbase__local__planner_1_1TrajectoryPlannerROS.html#a9155bebb3d073ae4b19b8d0da87478a6</a>)
to decide whether or not that velocity command is legal. Then,
you can either send it on to the base, or decide to stop.</div>
<div><br>
</div>
<div>Hope this helps,</div>
<div><br>
</div>
<div>Eitan</div>
<meta http-equiv="content-type" content="text/html;
charset=ISO-8859-1">
<div><br>
<div class="gmail_quote">On Tue, Jan 11, 2011 at 4:32 AM, Nikos
Mitsou <span dir="ltr"><<a moz-do-not-send="true"
href="mailto:nmitsou@lsr.ei.tum.de">nmitsou@lsr.ei.tum.de</a>></span>
wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt
0.8ex; border-left: 1px solid rgb(204, 204, 204);
padding-left: 1ex;">Hello everyone,<br>
My mobile robot needs to interact with humans...<br>
In order to do that it has to approach a person in a
user-friendly way.<br>
This means that the robot should follow a very specific
trajectory that<br>
considers social aspects,<br>
for example: the robot should approach a person face to
face, the<br>
trajectory should be smooth with specific velocities etc.<br>
<br>
We can calculate the desire trajectory for free space but we
don't know<br>
how to make the robot follow it.<br>
One solution we are considering is to send multiple goals to
move base.<br>
<br>
Another problem here is that a goal might happen to be
inside or very<br>
close to an obstacle and thus the low lever planner will
probably design<br>
an undesirable trajectory.<br>
<br>
Do you have any suggestion towards this problem?<br>
Thanks in advance<br>
Nikos<br>
<br>
_______________________________________________<br>
ros-users mailing list<br>
<a moz-do-not-send="true"
href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
<a moz-do-not-send="true"
href="https://code.ros.org/mailman/listinfo/ros-users"
target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
</blockquote>
</div>
<br>
</div>
<pre wrap="">
<fieldset class="mimeAttachmentHeader"></fieldset>
_______________________________________________
ros-users mailing list
<a class="moz-txt-link-abbreviated" href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a>
<a class="moz-txt-link-freetext" href="https://code.ros.org/mailman/listinfo/ros-users">https://code.ros.org/mailman/listinfo/ros-users</a>
</pre>
</blockquote>
<br>
</body>
</html>