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bosch_skin: safe_base_controller | skin_config | skin_dashboard | skin_demo_movebase | skin_driver | skin_safe_base

Package Summary

The skin_safe_base node uses skin patches mounted to the robot's base to determine in which directions the robot can drive without hitting obstacles. The node constantly publishes command_limits messages and prevents driving/truning in a specific direction if something blocks a sensor in that direction. The command_limits are enforced by using the safe_base_controller instead of the PR2's regular base_controller. The mapping of the patch ids to their location on the robots base is done using the skin_safe_base.yaml file.



Subscribed Topics

~<name>/skin_data (skin_driver/skin_meas)

Published Topics

command_limits (safe_base_controller/TwistLimits)

2019-12-07 13:09