The aim of this ROS node is to locate obstacles through the laser scan and adjust the velocity in order to not collide.
- Copy this ROS package in a folder inside the
srcfolder of your ROS workspace - from your workspacke build with
catkin_make - run with
rosrun collision_avoidance avoider
In order to test this node use a stage ros and a controller node like teleop_twist_keyboard that publish Twist messages.
First, run the collision_avoidance node with:
rosrun collision_avoidance avoider
Second, the controller with:
rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=cmd_vel_call
Now run ros_stage with:
rosrun stage_ros stageros <worldfile>
In this test we used the DIAG department map cappero_laser_odom_diag_obstacle_2020-05-06-16-26-03.world