Collision detection with dynamic point cloud

asked 2020-05-19 11:33:54 -0500

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

Hi I would like to test a motion planning algorithm for dynamic environments based on point cloud. I have a dataset of recorded point cloud from a kinect.

I was wondering how to perform collision detection between the robot and the pointcloud and in particular how to avoid compenetration.

Here is shown that i can use PCL to convert the point cloud in a STL mesh, but can can I do it online and "publish" in gazebo a new mesh at a freq of 30Hz? If yes I suppose that the simulation might became extremely slow due to convertion (point cloud -> STL), right?. In that case I could make a dataset of meshes each one corresponding to each frame recorded.

Does exist another method?

edit retag flag offensive close merge delete