Autonomous navigation of mobile robots – avoiding obstacles
The ROS navigation stack is the most powerful software package that allows mobile robots to move from one place to another safely. The goal of the navigation stack is to produce a safe path, in other words, a collision-free path for the robot to execute by processing the data from sensors and the environment map. One of the great functionalities of the navigation stack is obstacle avoidance. We can easily view this feature by adding an object in front of the moving robot in Gazebo.
Getting ready
A few predefined shapes or obstacles can be added in Gazebo by using the Insert model option from GUI. The navigation stack detects the obstacle and automatically creates an alternative possible collision path.
How it works…
At the same time, we can see a new global plan to avoid the obstacle in the RViz window. This feature is most interesting when the robot is moving in real environments surrounded by static and dynamic obstacles. If the robot...
