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)
  • Raw skin measurement with configuration data

Published Topics

command_limits (safe_base_controller/TwistLimits)
  • Specifies the maximum velocities the base is allowed to drive. Is send constantly otherwise base will not be allowed to move.

Wiki: skin_safe_base (last edited 2011-01-10 22:45:55 by SebastianHaug)