cob_obstacle_distance¶

Message types¶

• cob_obstacle_distance/ObstacleDistance
• cob_obstacle_distance/ObstacleDistances

cob_obstacle_distance/ObstacleDistance¶

Field:	header (std_msgs/Header) – link_of_interest (string) – obstacle_id (string) – distance (float64) – frame_vector (geometry_msgs/Vector3) – nearest_point_frame_vector (geometry_msgs/Vector3) – nearest_point_obstacle_vector (geometry_msgs/Vector3) –

Header header

# Collision pair: frame of interest and obstacle
## Registration name of the link of interest
string link_of_interest

## Registration name of the obstacle
string obstacle_id

# distance between the nearest points on obstacle and frame of interest
float64 distance

# Vector pointing to the origin of the link (e.g. arm_right_7_link)
geometry_msgs/Vector3 frame_vector

# Vector pointing to the nearest point on the frame
geometry_msgs/Vector3 nearest_point_frame_vector

# Vector pointing to the nearest point on the obstacle
geometry_msgs/Vector3 nearest_point_obstacle_vector

cob_obstacle_distance/ObstacleDistances¶

Field:	distances[] (cob_obstacle_distance/ObstacleDistance) –

ObstacleDistance[] distances