The skin_safe_base node uses skin patches mounted to the robot's base to determine in which directions the robot can drive without hitting obstacles. The node constantly publishes command_limits messages and prevents driving/truning in a specific direction if something blocks a sensor in that direction. The command_limits are enforced by using the safe_base_controller instead of the PR2's regular base_controller. The mapping of the patch ids to their location on the robots base is done using the skin_safe_base.yaml file.
skin_safe_base is ...
