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You can use the costmap_2d ros package which gives you collision checking ability. The costmap_2d package provides an API for you to use in conjunction with your planner for obstacle avoidance.
| | 2 | No.2 Revision |
You can use the costmap_2d ros package which gives you collision checking ability. The costmap_2d package provides an API for you to use in conjunction with your planner for obstacle avoidance.avoidance by checking the robot's footprint cells for collision in a global costmap for planning. For local obstacle avoidance it also provides a rolling window costmap.
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