Tobas Object Avoidance

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro kilted showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro lyrical showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

tobas tobas_camera tobas_camera_msgs tobas_camera_ros_interface tobas_image_processing tobas_command_msgs tobas_command_msgs_adapter tobas_algorithm tobas_common tobas_control tobas_dsp tobas_eigen_conversions tobas_eigen_msgs tobas_eigen_msgs_adapter tobas_eigen_tools tobas_geographic tobas_ic_drivers tobas_ic_drivers_ros tobas_kdl tobas_kdl_conversions tobas_kdl_msgs tobas_kdl_msgs_adapter tobas_kdl_parser tobas_linux tobas_math tobas_nlp tobas_path_tools tobas_quadprog tobas_ros2_tools tobas_std_msgs tobas_std_msgs_adapter tobas_std_tools tobas_string_tools tobas_time_tools tobas_trajectory_generation tobas_urdf tobas_xml_tools tobas_yaml_tools tobas_components_rt tobas_config_servers tobas_connection_monitor tobas_constants tobas_controllers tobas_fixed_wing_controller tobas_nonplanar_multi_controller tobas_planar_multi_controller tobas_random_axis_tilt_multi_controller tobas_y_axis_tilt_multi_controller tobas_core tobas_cui tobas_keyboard tobas_keyboard_teleop tobas_debug_msgs tobas_debug_msgs_adapter tobas_debug_tools tobas_description tobas_disturbance_observer tobas_dparam tobas_dparam_client tobas_dparam_common tobas_dparam_msgs tobas_dparam_server tobas_drone tobas_drone_core tobas_drone_msgs tobas_drone_msgs_adapter tobas_drone_server tobas_drone_tools tobas_dummy_pkg tobas_eskf tobas_failsafe tobas_fake_publishers tobas_fc1xx tobas_fc1xx_core tobas_fc1xx_ros tobas_fc1xx_test tobas_fc2xx tobas_fc2xx_core tobas_fc2xx_ros tobas_fc2xx_test tobas_hardware tobas_hardware_common tobas_joint_states_bridge tobas_landing_detection tobas_manipulation tobas_mission tobas_mission_execution_mc tobas_mission_items tobas_mission_msgs tobas_mission_msgs_adapter tobas_msgs tobas_msgs_adapter tobas_node tobas_object_avoidance tobas_pose_pid tobas_property tobas_property_client tobas_property_common tobas_property_msgs tobas_property_server tobas_property_tree tobas_rc_teleop tobas_dynamixel tobas_dynamixel_handler tobas_dynamixel_msgs tobas_dynamixel_ros_interface tobas_real tobas_real_common tobas_real_msgs tobas_real_ros tobas_sbus_driver tobas_ros_interface tobas_rosbag_recorder tobas_rotor_anomaly_detection tobas_rotor_controller tobas_tools tobas_topic_throttle tobas_tree_server tobas_version tobas_vibration_filter tobas_wind_model tobas_code_style tobas_cpp_code_style_example tobas_examples tobas_examples_cpp tobas_examples_py tobas_external tobas_inja_vendor tobas_rapidcsv_vendor tobas_actuator_test tobas_bootmedia_config tobas_colcon_cpp tobas_control_system tobas_crypt tobas_cyclonedds_config tobas_flight_log_gui tobas_gamepad tobas_gamepad_core tobas_gamepad_ros tobas_gazebo tobas_gazebo_common tobas_gazebo_conversions tobas_gazebo_gui_plugins tobas_gazebo_msgs tobas_gazebo_ros tobas_gazebo_sim tobas_gazebo_system_plugins tobas_gazebo_tools tobas_gcs tobas_git tobas_gui tobas_gui_common tobas_parameter_tuning tobas_qt_tools tobas_qwt_wrapper tobas_rqt_bridge tobas_rviz_plugin tobas_rviz_wrapper tobas_sensor_calibration tobas_setup_assistant tobas_simulation_gui tobas_ssh tobas_ssh_authkey tobas_ssh_client tobas_ssh_msgs tobas_ssh_server tobas_tile_proxy tobas_uadf tobas_udev tobas_urdf_builder tobas_urdf_builder_plugin tobas_visualization_msgs tobas_wpa_supplicant

ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tobas_object_avoidance` at Robotics Stack Exchange

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.

tobas_object_avoidance package from tobas repo

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ROS Distro
jazzy

Package Summary

Version	2.16.2
License	GPL-3.0-or-later
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/TobasFlightControl/tobas.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-09-22
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 node that computes obstacle-avoidance acceleration from an OctoMap using repulsive potential fields.

Maintainers

dtetsuka

Authors

No additional authors.

Tobas Object Avoidance

This package receives an obstacle map and outputs repulsive acceleration for obstacle avoidance.

The repulsive potential field U_r(q) centered at the obstacle position is defined as follows. \(U_r(q) = \begin{cases} \frac{1}{2}k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)^2, & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

k_r: coefficient q: obstacle position q₀: drone position ρ₀: repulsive influence range ρ: Euclidean distance between two points

The magnitude F_r of the repulsive force acting on the drone is obtained by differentiating U_r(q). \(F_r = \begin{cases} k_r\left(\frac{1}{\rho(q, q_o)} - \frac{1}{\rho_0}\right)\frac{1}{\rho(q, q_o)^2}\nabla \rho(q, q_o), & \rho(q, q_o) \leq \rho_0 \\ 0 & \rho(q, q_o) > \rho_0 \end{cases}\)

This is based on the following paper. https://www.researchgate.net/publication/392565826_Artificial_potential_field_method_for_path_and_trajectory_planning_of_unmanned_aerial_vehicles_A_review

CHANGELOG

Changelog for package tobas_object_avoidance

2.16.2 (2026-09-22)

revert version
update CHANGELOG.rst
modify: Bump version to 2.16.2
Contributors: Masayoshi Dohi

2.16.1 (2026-09-18)

v2.16.1
Contributors: Masayoshi Dohi

2.16.0 (2026-07-29)

Add description
0.0.0 -> 2.16.0
English translation
Contributors: Masayoshi Dohi

2.15.0 (2026-06-29)

Merge branch 'jazzy-dev' into jazzy
.
C由来の関数を排除
Merge branch 'jazzy-dev' into jazzy
fix ライセンス条項を追加使ってない依存パッケージを削除コンポーネントに unique_ptrで発行トピックを相対パスに QoSをUDPに制御器側で障害物回避を制御
Merge pull request #7 from TobasFlightControl/feature/objetc_avoidance Feature/objetc avoidance
PRコメント反映
launchファイル修正
add object_avoidance on off config
Merge branch 'jazzy-dev' into feature/objetc_avoidance
絶対座標系からドローン座標系へ変更
tobas_object_avoidance interface
object avoidance draft
Contributors: Masayoshi Dohi, Tetsuka Daiki

2.12.1 (2026-02-18 12:13:14 +0900)

2.12.0 (2026-02-18 12:13:14 +0900)

2.11.0 (2026-02-13)

2.10.0 (2026-01-29)

2.8.0 (2025-09-25)

2.7.0 (2025-09-09)

Package Dependencies

Deps	Name
	ament_cmake
	octomap
	octomap_msgs
	tobas_node
	tobas_constants
	tobas_msgs_adapter

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tobas_core

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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