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.
- Author: Sebastian Haug
- License: BSD
- Repository: bosch-ros-pkg
- Source: svn http://svn.code.sf.net/p/bosch-ros-pkg/code/tags/stacks/bosch_skin/bosch_skin-0.3.0
Subscribed Topics~<name>/skin_data (skin_driver/skin_meas)
- Raw skin measurement with configuration data
Published Topicscommand_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.