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Right now i have a robot that stops when it detects a person. I need to be able to mark a coordinate as obstacles, even though it still is not an obstacle. This is because im predicting the behavior of the person so i need to mark as obstacles the path i think it will walk. Any ideas how to accomplish this? Can i just add an obstacle on the obstacle topic? and if so how can i manage this? Also i found out you can change the laserscan to add the new arbitrary obstacle here is this a possibility? Thanks


Originally posted by ctguell on ROS Answers with karma: 63 on 2013-10-22

Post score: 1


Original comments

Comment by KruseT on 2013-10-23:
Consider discussing this at https://groups.google.com/forum/?fromgroups=#!forum/ros-sig-navigation , the navigation SIG.

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If you are using Hydromedusa you could create a costmap2d layer that increases cost along the predicted path of the moving obstacle.


Originally posted by Hendrik Wiese with karma: 1145 on 2013-10-22

This answer was ACCEPTED on the original site

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Original comments

Comment by ctguell on 2013-10-23:
right now im using fuerte, is there a way to do it in fuerte? Thanks

Comment by Hendrik Wiese on 2013-10-23:
For costmap2d layers you'll need Hydro. I assume there is a way to achieve it in Fuerte as well, but I'm afraid I have no idea how.

Comment by ctguell on 2013-10-29:
@Hendrik SeveQ Wiese @KruseT instead of using a layered costmap is it possible to just "change" the obstacle topic to add new obstacles?

Comment by VEGETA on 2016-05-30:
i would like to know how to use this to detect dynamic targets

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