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Is it possible to use different LaserScan source for obstacle avoidance? In my robot model I have several laser scanners installed and want to use one for navigation and the other one (possible more than one) for obstacle avoidance. I am using ROS Indigo and Kinetic with standard navigation stack.


Originally posted by Constantine on ROS Answers with karma: 3 on 2016-06-03

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Yes. In the costmap configuration you can specify the observation_sources, where you can choose a different topic. Look under the costmap configuration section here: http://wiki.ros.org/navigation/Tutorials/RobotSetup.


Originally posted by FOXTER with karma: 153 on 2016-06-03

This answer was ACCEPTED on the original site

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