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Check for collision before executing the spin primitive #533

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orduno opened this issue Jan 24, 2019 · 4 comments
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Check for collision before executing the spin primitive #533

orduno opened this issue Jan 24, 2019 · 4 comments
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@bpwilcox
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1 - High High Priority enhancement New feature or request nav2_motion_primitives

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@orduno
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orduno commented Jan 24, 2019

The spin primitive from nav2_motion_primitives should check, based on the robot footprint, if the path is clear before execution.
@orduno orduno added this to the EndFebruary milestone Jan 24, 2019
@orduno orduno self-assigned this Jan 24, 2019
@orduno orduno mentioned this issue Jan 24, 2019
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@ghost ghost removed this from the EndFebruary milestone Jan 29, 2019
@orduno orduno added this to the EndFebruary milestone Jan 30, 2019
@ghost ghost added the enhancement New feature or request label Feb 4, 2019
@ghost ghost removed this from the EndFebruary milestone Mar 4, 2019
@ghost ghost unassigned orduno Mar 7, 2019
@orduno
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orduno commented May 9, 2019

@bpwilcox since you are working on the collision checker, I'll reassign it to you and move it to "in-progress".

@orduno orduno mentioned this issue May 9, 2019
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@SteveMacenski
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@bpwilcox I started to look at this. How Navigation did it was through the costmap model which requires access to the costmap object. This wasnt a problem with the plugin infrastructure since it was in the same node. I'm curious if you're planning on retooling it to work with the occupancy grid message.

Let me know if I can help in some way.

@bpwilcox
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@SteveMacenski I am soon to submit a PR to address this. Yes, I am using the same costmap model, so I am subscribing to the costmap topic (actually I am now publishing a nav2_msgs Costmap msg) and creating the costmap object for use in collision checking.

This was referenced May 16, 2019
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@bpwilcox bpwilcox mentioned this issue May 18, 2019
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@bpwilcox bpwilcox mentioned this issue Jun 25, 2019
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ghost commented Jul 3, 2019

Done now

@ghost ghost closed this as completed Jul 3, 2019
mini-1235 pushed a commit to mini-1235/navigation2 that referenced this issue Feb 5, 2025
@SteveMacenski
updating docs for mppi_opt (ros-navigation#533)
cd6dad8 
* updating docs for mppi_opt

* adding to migration guide
Forsyth-Creations pushed a commit to Forsyth-Creations/navigation2 that referenced this issue Feb 19, 2025
@bobbleballs
[DiffDriveController] Optional tf namespace prefixes instead of using…
5c0327d 
… node namespace (ros-navigation#533)

* [DiffDiveController] Changed the namespace appending from '/' to '_' with optional tf_frame_prefix parameter. If not set it will not append anything.
* [DiffDriveController] Add option to enable/disable TF prefix. On by default. If prefix not set and is enabled then namespace is used by default.
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1 - High High Priority enhancement New feature or request nav2_motion_primitives
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@SteveMacenski @bpwilcox @orduno