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UbiquityRobotics / move_basic

A minimal navigation node
BSD 3-Clause "New" or "Revised" License
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Using both sonars and lidar at the same time for collision detection #86

Closed MoffKalast closed 2 years ago

MoffKalast commented 3 years ago

In cases where the lidar is mounted super high or low on the robot we can't detect all obstacles and must also look at the sonars and not just the laserscan despite it being available.

dorkamotorka commented 3 years ago

Both the sonar and LiDAR data should be published at the same time. I guess the frequency of the sonar data is to low or something since:

https://github.com/UbiquityRobotics/move_basic/blob/7c277c3270a00cead60f65f3c883a2633905ceb0/src/obstacle_points.cpp#L204

I will test this and post results here.

dorkamotorka commented 3 years ago

I've tested on Magni and points (detections) from both are used. I think this might be more of a Polaris problem. @MoffKalast can we close this issue or should wait for Polaris to arrive in TP in 2022 ? ;)

MoffKalast commented 3 years ago

I've tested it myself a while back and yes it should be working in theory, but polaris doesn't really stop using sonars in gazebo either.

Right now I'm thinking of doing a separate node that blocks movement once only the front sonar gets blocked for a specified time, so I can tweak it specifically for these trash sensors. Gonna be a bit hard to do without the actual hardware but I think mark has a few he could potentially test with.

dorkamotorka commented 3 years ago

I think this should be easily feasible after #90 closes.

dorkamotorka commented 2 years ago

Confirmed working using both Sensor and LiDAR. #90 is a separate long-term issue.