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)

Could not convert RST to MD: No such file or directory - pandoc