Obstacle Detector
Description: The robot’s obstacle detection node. ROS2 subscribes to the robot’s infrared TOF sensors, and by combining the robot’s posture, it calculates the obstacle distance information along the horizontal direction.
Basic Information
Installation method |
Supported platform[s] |
|---|---|
Source |
Jetpack 6.0 , ros-humble |
Subscribed
ROS Topic |
Interface |
Frame ID |
Description |
|---|---|---|---|
imu_sensor_broadcaster/imu |
sensor_msgs::msg::Imu |
body |
Robot body IMU posture |
perception/devices/face_point |
sensor_msgs::msg::PointCloud2 |
spad |
Robot front face TOF sensor |
perception/devices/neck_point |
sensor_msgs::msg::PointCloud2 |
spad1 |
Robot lower face TOF sensor |
Published
ROS Topic |
Interface |
Frame ID |
Description |
|---|---|---|---|
perception/detector/distance_data |
std_msgs::msg::Float64 |
\ |
Distance to the obstacle in front of the robot |
perception/detector/angle_data |
std_msgs::msg::Float64 |
\ |
Angle of the ground directly below the robot |
Config
Param |
Range |
Default |
Description |
|---|---|---|---|
max_distance |
|
1.3 |
The maximum distance at which obstacle detection is effective |
min_distance |
|
0.1 |
The minimum distance at which obstacle detection is effective |
limit_xmin |
|
-0.5 |
The minimum range of the detected point cloud on the X-axis |
limit_xmax |
|
0.5 |
The maximum range of the detected point cloud on the X-axis |
limit_ymin |
|
-0.25 |
The minimum range of the detected point cloud on the Y-axis |
limit_ymax |
|
0.25 |
The maximum range of the detected point cloud on the Y-axis |
limit_zmin |
|
-0.5 |
The minimum range of the detected point cloud on the Z-axis |
limit_zmax |
|
0.5 |
The maximum range of the detected point cloud on the Z-axis |
pub_freq |
|
15 |
The publishing frequency of obstacle detection |
obstacle_start |
|
true |
The switch for the node’s functionality |
obstacle_bias |
|
0.01 |
Used for manual adjustment to compensate for sensor measurement bias |