Package Summary

This tutorial shows how to launch the xbot obstacle avoidance module and explains how it works.

• Maintainer status: developing

• Maintainer: Chai Changkun < chaichangkun@163.com >

• Download: https://github.com/sychaichangkun/xbot_obstacle_avoidance

• Author: Chai Changkun

Overview

This package is mainly the obstacle avoidance module for Xbot.

To implement obstacle avoidance, a Finite-State Machine(FSM) is designed, which manages robot states and makes it more extensible.

The robot states currently includes: Advance, Stop and Retreat, defined by its action(statename) and timestamp when the state started.

When a specific Event is triggered, xbot will transform from one state to another, with corresponding Action performed, as is illustrated below.

• Input topics:

  • '/cmd_vel_mux/input/navi'(Twist)

    '/scan'(LaserScan)

    '/odom'(Odometry)

• Output topics:

  • '/cmd_vel_mux/input/safety_controller'(Twist)

Execute

Make sure the minimal software has already been launched on the robot and you have configured your network correctly.

On the Xbot, start obstacle avoidance on TK1.

# From Xbot TK1.
 > roslaunch xbot_obstacle_avoidance xbot_obstacle_avoidance.launch