safety_limiter package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

safety_limiter

safety_limiter node limits vehicle velocity to avoid collisions based on the linear prediction of the motion.

Subscribed topics

• ~/cmd_vel_in (new: cmd_vel_in) [geometry_msgs::Twist]
• ~/cloud (new: cloud) [sensor_msgs::PointCloud2]
• ~/disable (new: disable_safety) [std_msgs::Bool]
• ~/watchdog_reset (new: watchdog_reset) [std_msgs::Empty]
• /tf

Published topics

• ~/cmd_vel_out (new: cmd_vel) [geometry_msgs::Twist]
• ~/collision (new: collision) [sensor_msgs::PointCloud]

Services

Called services

Parameters

• "freq" (double, default: 6.0)
• "cloud_timeout" (double, default: 0.8)
• "disable_timeout" (double, default: 0.1)
• "lin_vel" (double, default: 0.5)
• "lin_acc" (double, default: 1.0)
• "ang_vel" (double, default: 0.8)
• "ang_acc" (double, default: 1.6)
• "z_range_min" (double, default: 0.0)
• "z_range_max" (double, default: 0.5)
• "dt" (double, default: 0.1)
• "d_margin" (double, default: 0.2)
• "yaw_margin" (double, default: 0.2)
• "downsample_grid" (double, default: 0.05)
• "frame_id" (string, default: std::string("base_link"))
• "footprint" (?, default: footprint_xml)

Changelog for package safety_limiter

0.17.1 (2024-03-22)

0.17.0 (2023-11-02)

0.16.0 (2023-09-14)

0.15.0 (2023-08-30)

0.14.2 (2023-07-31)

0.14.1 (2023-07-07)

0.14.0 (2023-06-06)

0.13.0 (2023-05-31)

0.12.2 (2023-02-28)

0.12.1 (2023-02-25)

• safety_limiter: update config to stabilize simulation test (#668)
• safety_limiter: fix flaky simulation tests (#664)
• Contributors: Atsushi Watanabe

0.12.0 (2023-01-30)

0.11.8 (2022-12-28)

• safety_limiter: make sure to keep margin from obstacles (#654)
• Contributors: Kazuki Takahashi

0.11.7 (2022-08-05)

• safety_limiter: enable omni-directional safety brake (#646)
• Contributors: Naotaka Hatao

0.11.6 (2022-07-20)

0.11.5 (2022-07-06)

0.11.4 (2022-04-13)

0.11.3 (2021-12-02)

• Fix flaky tests and add debug outputs (#628)
• Contributors: Atsushi Watanabe

0.11.2 (2021-11-08)

0.11.1 (2021-10-29)

0.11.0 (2021-08-30)

• Apply clang-format-11 with new setting (#605)
• Contributors: Naotaka Hatao

0.10.11 (2021-06-21)

0.10.10 (2021-03-18)

0.10.9 (2021-03-16)

0.10.8 (2021-03-10)

0.10.7 (2021-03-07)

• safety_limiter: add a max_linear_vel and max_angular_vel (#581)
• Contributors: Teo Cardoso

0.10.6 (2021-01-28)

0.10.5 (2020-12-24)

0.10.4 (2020-11-12)

0.10.3 (2020-10-22)

0.10.2 (2020-10-07)

0.10.1 (2020-08-26)

0.10.0 (2020-08-06)

• Merge rostest coverage profiles (#520)
• Contributors: Atsushi Watanabe

0.9.1 (2020-07-16)

0.9.0 (2020-07-02)

• safety_limiter: make safety_limiter dynamic-reconfigurable (#509)
• Contributors: Naotaka Hatao

0.8.8 (2020-06-15)

0.8.7 (2020-05-22)

• [Noetic] Add missing includes and libraries (#497)
• Contributors: Shane Loretz

0.8.6 (2020-05-15)

0.8.5 (2020-05-04)

• Revert \"Remove old workaround for debian stretch build (#473)\" (#478)
• Contributors: Atsushi Watanabe

0.8.4 (2020-04-30)

• Remove old workaround for debian stretch build (#473)
• Clean unused dependencies (#472)
• Contributors: Atsushi Watanabe

0.8.3 (2020-04-26)

0.8.2 (2020-04-07)

• Support Noetic (#461)
• Contributors: Atsushi Watanabe

0.8.1 (2020-03-12)

0.8.0 (2020-03-04)

0.7.0 (2020-02-04)

0.6.0 (2020-01-18)

• safety_limiter: use fixed frame for accumulating input cloud (#421)
• Contributors: Yuta Koga

0.5.1 (2020-01-06)

• safety_limiter: fix test stability (#411)
• Migrate from C math functions to C++ (#407)
• safety_limiter: fix test stability (#406)
• Contributors: Atsushi Watanabe

0.5.0 (2019-10-21)

• safety_limiter: remove debug output (#385)
• safety_limiter: status broadcasting from safety_limiter node (#383)
• Contributors: Atsushi Watanabe, Daiki Maekawa

0.4.3 (2019-09-10)

• safety_limiter: fix diagnostics warning condition (#374)
• Contributors: Atsushi Watanabe

0.4.2 (2019-08-19)

0.4.1 (2019-08-15)

• safety_limiter: increase simulation test publish rate (#320)
• safety_limiter: add simulation test conditions for backward motion (#319)
• safety_limiter: add delay compensation (#316)
• safety_limiter: fix footprint radius calculation (#317)
• Drop ROS Indigo and Ubuntu Trusty support (#310)
• Contributors: Atsushi Watanabe, Yuta Koga

0.4.0 (2019-05-09)

• safety_limiter: fix backward motion limit (#292)
• safety_limiter: fix CloudBuffering test start timing (#279)
• Fix package dependencies (#268)
• Contributors: Atsushi Watanabe, Yuta Koga

0.3.1 (2019-01-10)

• safety_limiter: increase tolerance of the test (#243)
• Fix pointer alignment style (#233)
• Migrate tf to tf2 (#230)
• safety_limiter: add diagnostics to safety_limiter node (#227)
• safety_limiter: allow escape motion from collision (#221)
• safety_limiter: fix first time step of collision prediction (#222)
• Fix catkin package definitions (#206)
• Contributors: Atsushi Watanabe, So Jomura, Yuta Koga

0.2.3 (2018-07-19)

0.2.2 (2018-07-17)

• Workaround for debian stretch build problem (#199)
• Contributors: Atsushi Watanabe

0.2.1 (2018-07-14)

• Compile with PCL_NO_PRECOMPILE (#195)
• Contributors: Atsushi Watanabe

0.2.0 (2018-07-12)

• safety_limiter: update document (#192)
• safety_limiter: fix safety limit logic (#187)
• safety_limiter: fix input cloud buffering (#184)
• Fix namespace migration messages (#174)
• Fix topic/service namespace model (#168)
• Fix package dependencies (#167)
• Fix naming styles (#166)
• Update package descriptions and unify license and version (#165)
• Use neonavigation_msgs package (#164)
• safety_limiter: add watchdog timer (#123)
• safety_limiter: use timer instead of spinOnce (#121)
• safety_limiter: fix naming style. (#86)
• Suppress compile warnings and test with -Werror. (#82)
• safety_limiter: avoid kdtree build for empty cloud. (#67)
• Add missing dep to xmlrpcpp. (#52)
• safety_limiter: support fragmented pointcloud input. (#43)
• Support package install. (#45)
• Fix coding styles. (#39)
• adds READMEs (#11)
• safety_limiter: increases subscribe buffer length for safety disable input
• safety_limiter: adds time margin in collision test
• safety_limiter: uses pcl\'s erase-remove_if
• safety_limiter: fixes safety disable mode to ignore cloud timeout
• safety_limiter: adds safety disable input
• safety_limiter: fixes pointcloud height handling
• safety_limiter: reduces pointcloud timeout warning
• safety_limiter: publishes stop command if no pointcloud received
• safety_limiter: Motion limiter for collision prevention
• Contributors: Atsushi Watanabe