turtlebot3_example.turtlebot3_obstacle_detection.turtlebot3_obstacle_detection module

class turtlebot3_example.turtlebot3_obstacle_detection.turtlebot3_obstacle_detection.Turtlebot3ObstacleDetection(*args: Any, **kwargs: Any)

Bases: Node

cmd_vel_raw_callback(msg)
cmd_vel_raw_sub

** Initialise timers

detect_obstacle()
init_scan_state

** Initialise ROS publishers and subscribers

scan_callback(msg)
update_callback()