ros-navigation / navigation2

ROS 2 Navigation Framework and System
https://nav2.org/
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Plan/Control with Dynamic Obstacles #1597

Open SteveMacenski opened 4 years ago

SteveMacenski commented 4 years ago

Right now, we work only with static data about the state of the world. We should be able to create a generic interface to handle detections to track them and have them included in the planning and control processes.

This could be done with explicit modeling (e.g. planner and controller step forward dt and we project the new time-variant pose of detections and uncertainty into C-space) or implicitly (e.g. we have some object we know is dynamic and we "smear" it in the costmap projecting its pose and uncertainty into the current costmap without being time-dependent)

e.g.

abylikhsanov commented 4 years ago

Is this still in development? If so, is the idea to first implement a dynamic obstacle detection (for example as a separate plugin) and then use in any local planner?

SteveMacenski commented 4 years ago

Its in development now.

Integrations for dynamic obstacle data into DWB would be an appreciated contribution if you're interested. Basically it would involve creating a dynamic obstacle critic plugin to take in some set of dynamic tracks and using them and the change in time of the trajectory to score the paths.

abylikhsanov commented 4 years ago

I am actively using TEB local planner and I would like to contribute for that instead if this is still interesting

SteveMacenski commented 4 years ago

In what way?