Header header bool obstacle_detected uint32 tilt_count uint32 wheeldrop_count uint32 stall_count float32 current_tilt
Header type from std_msgs, contains time stamp, frame id, etc
Boolean that is set the true only if the obstacle detector determines likelihood of an obstacle existing in the current location
Number of times the robot z-axis has tilted more than some threshold amount according to the IMU within some recent duration. These are counted toward determining obstacle existence
Number of times the drive wheels registered a drop (wheels are off the ground) within the recent duration. These are also counted toward determining obstacle existence
Number of times the drive motors have stalled within the recent duration for the obstacle detector to count toward obstacle determination.
The calculated deviation of the robot’s z-axis (IMU frame) compared to the nominal IMU frame