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Safety_control

License Build Status

Info

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

Hints

  • 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

Prerequisites

(there may be a better way to add these packages...?)

  • modify "cmd_vel_mux.yaml" to add this safety controller: name: "Safety Control" topic: "safety_control" timeout: 1.0 priority: 5

  • 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