How to activate collision prevention feature while quad is in offboard trajectory with mavros?

[Tamas Pal 0]

I am using mavros setup for figure 8 trajectory in offboard mode with master branch.
https://gitlab.com/voxl-public/support/mavros_test.git
I want to active collison prevention while the quad is following the figure 8 trajectory in a way such that, when an object comes infront of it, it stops and holds the position and when the object is removed it continues to follow the same trajectory. How to do that ?

[Anubhav]

@Chad-Sweet
Can I do the same without ros? by just modifying offboard_figure_eight.c given here such that it uses it's depth map just to maintain certain distance from obstacles and stop if any obstacle new obstacle come in front of it.
If so, how can I do it?

[Arjun Jain 0]

Hi modal Ai, we are able to do a predefined zig zag pattern. However, we also need collision prevention. This is our last remaining challenge. We will be very greatly for your help.

[Tamas Pal 0]

@modaltb Any suggestion ?