Description

This node subscribes to 4 topics and publishes to 1 topic. It is intended to listen to various mobile_base sensors and determine if a potential obstacle unseen by the bump sensors and depth sensor exists.

Dependencies

• tf2_ros
• std_msgs
• geometry_msgs
• sensor_msgs
• mobile_base_driver

Subscribed Topics

/mobile_base/stall
/mobile_base/sensors
/mobile_base/power
/mobile_base/imu

Published Topics

/mobile_base/clothesline_obstacle_detector

This topic displays messages of the ClotheslineObstacle type. This topic is published to by the node clothesline_obstacle_detector in the mobile_base package obstacle_detector and is subscribed to by the experimental may_nav version

Services

/mobile_base/clothesline_obstacle_seen

When a request is sent, this service clears the obstacle detector triggers. The only current established client is in the experimental may_nav. The purpose is to ensure that may_nav sees the detected obstacle even if may_nav temporarily stops running when safety triggers are registered.

Parameters

duration

Launch File

clothesline_obstacle_detector.launch