[Collision monitor] Publish collision_monitor state on a ROS topic.

[kaichie]

Feature request

Feature description

Publish collision_monitor state on a ROS topic.

Currently, the collision_monitor package only prints the Action state on the terminal, it will be useful to publish this as a message so that other parts of the system can use this information.

Implementation considerations

The proposed feature should add a new publisher that publishes the state as a ROS topic. Depending on the level of details required, it should at least publish:

• action_type (<int> DO_NOTHING=0, STOP=1, SLOWDOWN=2, APPROACH=3)

and/or more of the following fields:

• velocity: the requested velocity that the current state is reporting
• polygon_name: the name of the polygon that is currently activated
• points: the points of the polygon that is currently activated

If more information is required beyond the action_type, we probably want to create a new nav2 msgs and also update the Action struct to store more of these informations.

[SteveMacenski]

Sounds reasonable!

I don't think velocity is as important as the cmd_vel is going to contain that velocity as the normal output. The polygon name might be helpful context, I agree!

[BriceRenaudeau]

This issue isn't closed?

[SteveMacenski]

Thanks!