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 [sensor_msgs::PointCloud]
• ~/debug [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

0.4.0 (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