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.


Subscribed Topics


Published Topics


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



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.



Launch File