coll_detect

A node to handle data from Lidar, if the Permocar gets too close to an object it sends a stop signal.

Subscribe

• Topic scan as sensor_mesgs::LaserScan containing lidar scan.
• Topic vw_estimate as std_msgs::Float32MulitArray containing [velocity, angular velocity].

Publiching

• Topic lidar_stop as std_msgs::Bool true if collision threat is imminent.

Param

Parameter that can be set.

• k11,kr11 -> default 1.5, timing variables for stop time (kr11/k11^2).
• collision_threshold -> default 0.5, distant to stop before collation in meters (messed from lidar).
• t_delay -> default 0.0, delay to compensate for system delays.