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Patrol: Customize object detection range #19

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RoelofJ opened this issue Jun 22, 2017 · 2 comments
Open

Patrol: Customize object detection range #19

RoelofJ opened this issue Jun 22, 2017 · 2 comments

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@RoelofJ
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RoelofJ commented Jun 22, 2017

Hi there,

I've been working on my own script using a part of the patrol behavior from this solution. We have a scanned map and we have Pepper choosing his own targets on the map to move to. But we've noticed that he says "Oops, there is an obstacle" quite often. Is there a way to customize how near an object Pepper is allowed to go before "4" is returned as returnValue by "self.nav.navigateToInMap([target[0], target[1], 0.0], _async=True)"?

@lsouchet
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Hello,
as stated in the documentation, the call will return if the robot has not been able to reach its target, possibly because of an obstacle on the way.

For the external collision avoidance, you can refer to this documentation to change the security distances, and inspect ALMotion/MoveFailed event to see if an obstacle as been detected.

You can then customize your behavior by retrying to navigate when it fails.

Let me know if it helps.

@RoelofJ
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RoelofJ commented Jul 28, 2017

Setting the external collision avoidance lower seems to get the desired effect, though I noticed that the distance at which it stops is also determined by the speed (for obvious reason now I think of it). It might be useful to be able to set (maximum) speed when moving to a certain point, so that I can better control his movement without having to lower the collision distance so much.
For now, setting the collision avoidance works however :)

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