ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.17.2 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/at-wat/neonavigation.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-12-05 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Motion limiter package for collision prevention
Additional Links
No additional links.
Maintainers
- Atsushi Watanabe
Authors
- Atsushi Watanabe
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
Changelog for package safety_limiter
0.17.2 (2024-11-07)
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| neonavigation | |
| neonavigation_launch |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged safety_limiter at Robotics Stack Exchange
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.17.2 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/at-wat/neonavigation.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-12-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Motion limiter package for collision prevention
Additional Links
No additional links.
Maintainers
- Atsushi Watanabe
Authors
- Atsushi Watanabe
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
Changelog for package safety_limiter
0.17.2 (2024-11-07)
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| neonavigation | |
| neonavigation_launch |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged safety_limiter at Robotics Stack Exchange
No version for distro jade. Known supported distros are highlighted in the buttons above.
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.4.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/at-wat/neonavigation.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2019-05-22 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Motion limiter package for collision prevention
Additional Links
No additional links.
Maintainers
- Atsushi Watanabe
Authors
- Atsushi Watanabe
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
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| nav_msgs | |
| roslint | |
| rostest | |
| roscpp | |
| diagnostic_updater | |
| geometry_msgs | |
| pcl_ros | |
| sensor_msgs | |
| std_msgs | |
| tf2_ros | |
| tf2_sensor_msgs | |
| neonavigation_common | |
| cmake_modules | |
| xmlrpcpp |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| neonavigation | |
| neonavigation_launch |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged safety_limiter at Robotics Stack Exchange
No version for distro hydro. Known supported distros are highlighted in the buttons above.
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.17.2 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/at-wat/neonavigation.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-12-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Motion limiter package for collision prevention
Additional Links
No additional links.
Maintainers
- Atsushi Watanabe
Authors
- Atsushi Watanabe
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
Changelog for package safety_limiter
0.17.2 (2024-11-07)
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| neonavigation | |
| neonavigation_launch |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged safety_limiter at Robotics Stack Exchange
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.17.2 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/at-wat/neonavigation.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-12-05 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Motion limiter package for collision prevention
Additional Links
No additional links.
Maintainers
- Atsushi Watanabe
Authors
- Atsushi Watanabe
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
Changelog for package safety_limiter
0.17.2 (2024-11-07)
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| neonavigation | |
| neonavigation_launch |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.