CollisionMonitorState Message

Package: nav2_msgs
Category: Collision Messages

Monitoring state for collision avoidance systems

Message Definition

Field Type Description
DO_NOTHING = 0 # No action uint8 Action type for robot in Collision Monitor. No action
STOP = 1 # Stop the robot uint8 Stop the robot
SLOWDOWN = 2 # Slowdown in percentage from current operating speed uint8 Slowdown in percentage from current operating speed
APPROACH = 3 # Keep constant time interval before collision uint8 Keep constant time interval before collision
LIMIT = 4 # Sets a limit of velocities if pts in range uint8 Sets a limit of velocities if pts in range
action_type uint8 Message field - see Nav2 documentation for specific usage details
polygon_name string Name of triggered polygon

Usage Examples

Python

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

class CollisionMonitorStatePublisher(Node):
    def __init__(self):
        super().__init__('collisionmonitorstate_publisher')
        self.publisher = self.create_publisher(CollisionMonitorState, 'collisionmonitorstate', 10)
        
    def publish_message(self):
        msg = CollisionMonitorState()
        # Set msg.action_type as needed
        msg.polygon_name = 'example_value'
        self.publisher.publish(msg)

C++

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

class CollisionMonitorStatePublisher : public rclcpp::Node
{
public:
    CollisionMonitorStatePublisher() : Node("collisionmonitorstate_publisher")
    {
        publisher_ = create_publisher<nav2_msgs::msg::CollisionMonitorState>("collisionmonitorstate", 10);
    }

    void publish_message()
    {
        auto msg = nav2_msgs::msg::CollisionMonitorState();
        // Set msg.action_type as needed
        msg.polygon_name = "example_value";
        publisher_->publish(msg);
    }

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