Bumper monitor

This is a low level safety 'driver' that temporarily disables velocity commands if a bumper is pressed. It sits on top of interface_bumper and interface_position2d devices.

The general concept of this device is to not do much, but to provide a last line of defense in the case that higher level drivers or client software fails in its object avoidance.

Compile-time dependencies
  • none
Provides
  • interface_position2d
Requires
  • interface_position2d : the underlying robot to be controlled
  • interface_bumper : the bumper to read from
Configuration requests
  • PLAYER_POSITION2D_REQ_MOTOR_POWER : if motor is switched on then we reset the 'safe state' so robot can move with a bump panel active
  • all other requests are just passed on to the underlying interface_position2d device
Configuration file options
  • none
Example
driver
(
  name "bumpersafe"
  provides ["position:0"]
  requires ["position:1" "bumper:0"]
)
Author
Toby Collett