Obstacle bumper

Data aggregation

The MRS bumper aggregates data from 1-D, 2-D lidars, and depth-camera images and creates a sector-based representation of the surroundings of a robot. The advertised obstacle sectors message can be visualized in Rviz using our Rviz plugins and can be used by other ROS nodes in real-time. The data is used in the control manager, for its obstacle avoidance feature.

The data aggregation does not run automatically, but it needs to be launched on-demand byu the user:

roslaunch mrs_bumper bumper.launch

A custom config can be passed to the launch file as:

roslaunch mrs_bumper bumper.launch custom_config:=<path to your file>

Configuration and behavior

TODO