/myrobot

Cliff Detection and Avoidance using ROS navigational stack

Primary LanguageCMake

Launch files

$ roslaunch turtle_gazebo turtle_world.launch 
$ roslaunch turtle_navigation nav_stack.launch

Cliff Sensors

  1. Front
  2. Back
  3. Left 30 deg
  4. Left 50 deg
  5. Right 30 deg
  6. Right 50 deg

Cliff data configuration parameters

  • cliff_mark_threshold - Threshold for IR ranges above which to be considered as cliffs.
  • cliff_mark_distance - Range that should be published if a cliff is detected.