I’m trying to identify what it might be doing…
I tried placing an object to block the LIDAR on top of the robot. It just caused it to bump into things more, but otherwise it continued doing the perimeter sweep like normal. The LIDAR has to compensate for those cover standoffs after-all.
Response to LIDAR obstructions (around robot perimeter)
Response to bumping
Response to random bumping (including after perimeter sweep)
- Upper-left: Used bumping to keep out of an area
- Lower-left: Used LIDAR obstruction to keep out of an area.
It would be useful to see a video of it happening.