This node provides basic collision / cliff detection and prevention To simplify behavior, potential collisions are detected by "zones" around the robot as defined in SafetySensorSummary
- Tune how long the robot stays stopped by modifying "timeout" in param/cmd_vel_mux.yaml
- Make sure you remap /cmd_vel in your launch file
- Tune for robot using parameters shown in the launch file.
- To view model in RVIZ, add topic "safety_control/zone_marker". This will display a marker whenever an object is in one of the robot's danger zones
(there may be a better way to add these packages...?)
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modify "cmd_vel_mux.yaml" to add this safety controller: name: "Safety Control" topic: "safety_control" timeout: 1.0 priority: 5
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Install required packages: Use the following command to install the required build and runtime dependencies:
cd <catkin workspace>
rosdep install --from-paths `pwd`/src --ignore-src --rosdistro=kinetic -y