Message Definition

Header header

# XXX: sensor indices in their respective arrays does not necessarily
# reflect what sensor it actually represents
# Each of these messages has its own internal field for that purpose.
# Example: check wheeldrop[0].wheel == WheelDrop.RIGHT and do not rely on the 0
Bumper[3]          bumper
WheelDrop[2]       wheeldrop
Touch              touch

Arguments

Header type from std_msgs, contains time stamp, frame id, etc

bumper

Array of bumper messages with the state of the three bumper sensors.

wheeldrop

Array of wheeldrop messages with the state of the wheel drop sensors. There is really only one wheeldrop and these will always have the same state.

touch

The cap touch message showing the state of the cap touch sensor.

/mobile_base/sensors