collision_map Documentation

collision_map: Collision Map

A node providing a map of the occupied space around the robot as discretized boxes (center, dimension), useful for collision detection.

Homepage: http://ros.org/wiki/collision_map

Author:

Radu Bogdan Rusu

collision_map is a node providing a map of the occupied space around the robot as discretized boxes (center, dimension, orientation) useful for collision detection.

The node can either send all requested map data or incremental updates/changes (additions) to the client/subscriber.

Additionally, the node can subtract all boxes which intersect with a given Oriented Bounding Box.

Note:

This version assumes that all boxes have the same dimensions, but the message type allows for different box sizes.