CollisionDetectorState Message

Package: nav2_msgs
Category: Collision Messages

State information from collision detection systems

Message Definition

Field Type Description
polygons string[] Name of configured polygons
detections bool[] List of detections for each polygon

Usage Examples

Python

import rclpy
from rclpy.node import Node
from nav2_msgs.msg import CollisionDetectorState

class CollisionDetectorStatePublisher(Node):
    def __init__(self):
        super().__init__('collisiondetectorstate_publisher')
        self.publisher = self.create_publisher(CollisionDetectorState, 'collisiondetectorstate', 10)
        
    def publish_message(self):
        msg = CollisionDetectorState()
        msg.polygons = []  # Fill array as needed
        msg.detections = []  # Fill array as needed
        self.publisher.publish(msg)

C++

#include "rclcpp/rclcpp.hpp"
#include "nav2_msgs/msg/collision_detector_state.hpp"

class CollisionDetectorStatePublisher : public rclcpp::Node
{
public:
    CollisionDetectorStatePublisher() : Node("collisiondetectorstate_publisher")
    {
        publisher_ = create_publisher<nav2_msgs::msg::CollisionDetectorState>("collisiondetectorstate", 10);
    }

    void publish_message()
    {
        auto msg = nav2_msgs::msg::CollisionDetectorState();
        // Fill msg.polygons array as needed
        // Fill msg.detections array as needed
        publisher_->publish(msg);
    }

private:
    rclcpp::Publisher<nav2_msgs::msg::CollisionDetectorState>::SharedPtr publisher_;
};