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Robot Operating System Cookbook by Kumar Bipin

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Collision avoidance

A commonly used approach to solve collision avoidance on MAVs is to project the environment onto a 2D ground plane and configure the ROS navigation stack, as discussed in Chapter 7Mobile Robot in ROS. To handle this problem, an appropriate sensor needs to be mounted on the MAV, to perceive the environment and to get an estimate of the surroundings. Fortunately, Gazebo provides plugins for 2D lasers such as Hokuyo that could likely be mounted on a real MAV. However, this approach cannot be substantial in the real world since the operating spaces of the MAV are reduced to a plane at a constant height.

The solution for full 3D collision avoidance requires front looking depth cameras such as the Kinect-sensor, which is already ...

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