Overview

A demo package for testing and demonstrating the uses of the sbpl_dynamic_env stack.

Demonstrations

There are a few launch files in the launch folder which show interesting situations where a planner that takes dynamic obstacles and time into account (sbpl_dynamic_planner) will produce intelligent behavior. In the same situations a planner that doesn't handle time (treats dynamic obstacles as static ones) will produce incorrect solutions, or no solution at all.

The demos all have the robot running the sbpl_dynamic_planner in blue and the dynamic obstacles in green.

roscd demo_sbpl_dynamic_env
roslaunch launch/duck_and_wait.launch

In this demo the robot's goal is on the right and there is a dynamic obstacle moving toward it in a tight hallway. The robot generates a plan that ducks into an alcove waits for the moving obstacle to pass and then proceed to its goal. A planner that does not take time into account would never find a solution to this situation.

roscd demo_sbpl_dynamic_env
roslaunch launch/slow_follow.launch

In this demo a slow dynamic obstacle moves in front of the robot (blocking its path to the goal). The robot follows it (stopping and waiting often) until the tight hallway opens up into a room where the robot can get past the moving obstacle.

roscd demo_sbpl_dynamic_env
roslaunch launch/two_robot_dodge.launch

In this demo there are two moving obstacles coming toward the robot. The robot must weave in between them in order to get to the goal safely.

Tests

There is a gtest in the test folder which makes sure all the packages in this stack are working together properly in the stage simulator.