Only released in EOL distros:
Package Summary
FME Laser Navigation Given a path or map made by LaserScan and Pose pairs, it should follow this path localisating itself using the icp between the current LaserScan and the path one..
Args
- shortest if true uses the shortest path as the map if false uses the safest
- Author: Marti
- License: BSD
- Source: svn http://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg/stacks/teo_robot/trunk
Contents
Applications
Outdoor obstacle avoidance and hole detection with a time-of-flight camera
Overview
This application implements a method to integrate a time of flight camera on an all terrain outdoor mobile robot to enhance its reactive navigation capabilities. The developed algorithms include sensor data processing for obstacle and hole detection, as well as a planer to take into account the non-holonomic property of the platform.
Dependences
The next scheme shows the relationship between the original nodes of the pcl and navigation stacks (gray), and the nodes used in this application (white).
IRI nodes:
Usage
This section indicates the steps to follow to run the application once the related dependences have been acquired.
B-spline addition to global planner:
To use this software it is expected to launch your robot with the ROS navigation stack, inwhich the navfn node will be modified by a B-spline addition.
Download iri_bspline_navfn, rename it to navfn.
Double-check your ROS_PACKAGE_PATH to ensure that new navfn package is found in the correct precedence order (ROS needs to find the new navfn package to use it with the navigation stack, thus we indicate firstly the path of the new navfn node in the ROS_PACKAGE_PATH).
Compile the new navfn package (rosmake).
To verify this procedure once the new navfn is compiled, one can run 'roscd navfn' and ensure that the current path is the correct one.
Vision system:
roslaunch teo_apps obstacle_hole_detection.launch
Example Videos
This video shows the use of the provided software.