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I have setup navigation stack successfully . I have following configuration :

  • Mutiple bots under different namespaces
  • Seperate Planners for individual bots
  • Static Map generated before-hand
  • No laser scans, only gps and odometry

I want bots to avoid colliding into each other. I think the navigation stack doesn't have such a capability yet. Avoidance based upon location of there neighbour bots.

Is there any way navigation package provides that utility?


Originally posted by MandeepSingh on ROS Answers with karma: 46 on 2018-07-03

Post score: 1


Original comments

Comment by simbha on 2018-07-03:
I think you have to write your own algorithm to do same.

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1 Answer 1

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So I have figured a way out, I am using social navigation layer in creating my CostMap. Though it requires lidar scans to look for people, since my robots are connected over internet I am subscribing to their poses and publishing onto people topic which navigation layer uses.

So I can do co-operative navigation using GPS and network only.


Originally posted by MandeepSingh with karma: 46 on 2018-07-12

This answer was ACCEPTED on the original site

Post score: 1

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