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safety_limiter package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

safety_limiter

safety_limiter node limits vehicle velocity to avoid collisions based on the linear prediction of the motion.

Subscribed topics

  • ~/cmd_vel_in (new: cmd_vel_in) [geometry_msgs::Twist]
  • ~/cloud (new: cloud) [sensor_msgs::PointCloud2]
  • ~/disable (new: disable_safety) [std_msgs::Bool]
  • ~/watchdog_reset (new: watchdog_reset) [std_msgs::Empty]
  • /tf

Published topics

  • ~/cmd_vel_out (new: cmd_vel) [geometry_msgs::Twist]
  • ~/collision [sensor_msgs::PointCloud]
  • ~/debug [sensor_msgs::PointCloud]

Services

Called services

Parameters

  • "freq" (double, default: 6.0)
  • "cloud_timeout" (double, default: 0.8)
  • "disable_timeout" (double, default: 0.1)
  • "lin_vel" (double, default: 0.5)
  • "lin_acc" (double, default: 1.0)
  • "ang_vel" (double, default: 0.8)
  • "ang_acc" (double, default: 1.6)
  • "z_range_min" (double, default: 0.0)
  • "z_range_max" (double, default: 0.5)
  • "dt" (double, default: 0.1)
  • "d_margin" (double, default: 0.2)
  • "yaw_margin" (double, default: 0.2)
  • "downsample_grid" (double, default: 0.05)
  • "frame_id" (string, default: std::string("base_link"))
  • "footprint" (?, default: footprint_xml)