This tutorial shows how to launch the xbot obstacle avoidance module and explains how it works.
- Maintainer status: developing
Maintainer: Chai Changkun < firstname.lastname@example.org >
- Author: Chai Changkun
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:
- Output topics:
On the Xbot, start obstacle avoidance on TK1.
# From Xbot TK1. > roslaunch xbot_obstacle_avoidance xbot_obstacle_avoidance.launch