March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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Obstacle avoidance using the Navigation stack
The Navigation stack can avoid a random obstacle in the path. The following is a scenario where we have placed a dynamic obstacle in the planned path of the robot.
The first figure shows a path planning without any obstacle on the path. When we place a dynamic obstacle on the robot path, we can see it planning a path by avoiding the obstacle.
Figure 21: Visualizing obstacle avoidance capabilities in RViz