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.
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.