Physical Privacy

About

Author: Alex Hubers, Jasper LaFortune

What it's for: Physical_privacy converts zones created via map_registration into 1.) rviz markers to visually display these zones within the world, and 2.) costmap alterations, to prevent the robot from entering these zones. If you have a .yaml file as derived from the tutorial linked above, this package will keep your robot from navigating into zones labelled "private".

Dependencies

In order to run, this package needs Python 2.7 and ROS Hydro. This is explicitly a Hydro+ package.

Getting it to Run

Make sure the workspace is properly sourced (often done in your bash).

source /opt/ros/hydro/setup.bash
#Navigate to the root of the workspace folder and run:
source devel/setup.bash
#Where zones is a zones.yaml file created via the map_registration project.
roslaunch physical_privacy priv_nav.launch zones:=/path/to/your/zones.yaml

Run it!

Check out the tutorial

Known bugs and issues

See the issue tracker

To-Do's and improvements

• Implement a system in which only public zones can be occupied...