Initial commit of the virtual fence#6
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This new controller tells robots not to leave a particular area. The valid search area can be set by publishing to the /virtualFence topic: rostopic pub /virtualFence std_msgs/Float32MultiArray -f shapemessage.yaml where the contents of file shapemessage.yaml is: layout: dim: [] data_offset: 0 data: [2, 0, 0, 8, 12] Known bugs: The obstacle avoidance controller has higher priority than the range controller. This means that rovers in constant collision can move out of the allowed range.
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This new controller tells robots not to leave a particular area.
The valid search area can be set by publishing to the /virtualFence topic:
rostopic pub /virtualFence std_msgs/Float32MultiArray -f shapemessage.yaml
where the contents of file shapemessage.yaml is:
layout:
dim: []
data_offset: 0
data: [2, 0, 0, 8, 12]
Known bugs:
The obstacle avoidance controller has higher priority than the range controller. This means that rovers in constant collision can move out of the allowed range.