Playing around with MORSE 0.6, I was tempted to try out basic obstacle avoidance through ROS (Fuerte) nodes on PR2 and ATRV. An obstacle avoidance approach involves a closed loop control system, which is executed by a laser or sonar scan with a 'see the obstacle => turn left', type of algorithm. After some initial hiccups I was able to get it working.
Here are some details of my efforts,
|Fig.1. PR2 simulation and its rxgraph|
|Fig.2. ATRV simulation|
in the PR2 simulation, one can see the closed loop of the system in the rxgraph of the ROS nodes.
I am grateful to Michael (kargm at in dot tum dot de) for his help and suggestions. Michael has also made a video of the PR2 obstacle avoidance simulation, https://www.dropbox.com/s/66rpmuyhzkm2ka4/pr2_obstacle_avoidance.m4v .
The codes can be found at, https://github.com/Arkapravo/laser_obstacle_avoidance_morse