Hello,
I’d like to present a small side project I’ve been working on, which might be useful for other people: GitHub - AlexReimann/collision_restraint: ROS2 module to restrain collisions by scaling velocity to prohibit driving into obstacles
Demo video here: https://www.youtube.com/watch?v=D5M8_Ib1CyA
It’s a package to restrain input velocities based on the distance to obstacles (PointCloud2 points) in the extrapolated trajectory of the robot. The main usage would be for safe(r) teleoperation.
The calculations are done using the input linear/angular velocities and changing the obstacle points to polar coordinates, so no discretization is done and the computations should be fast.
It currently only works for rectangular robots. A demo launcher for the nav2 tb3 simulation is included.
Suggestions for improvements / additional features highly welcome.
I’m also currently looking for a new job opportunity!
9 years work experience in robotics / ROS. Based in Berlin, Germany, but depending on the opportunity also happy to relocate!
(I don’t do defence though)