collision-monitor
CommunityFinal safety layer for ROS 2 velocity commands.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
The collision monitor enforces safe velocity commands by monitoring real-time sensor data and halting or slowing the robot when obstacles are detected, preventing collisions before they occur.
Core Features & Use Cases
- Real-time obstacle detection across LaserScan, PointCloud, and range sensors.
- Polygon-based safety zones to define stop, slowdown, and approach behaviors.
- Seamless Nav2 integration ensuring the collision monitor is the last node in the velocity pipeline and provides diagnostics for safety tuning.
- Use case: in a warehouse robot, the collision monitor stops the robot when a person steps into a PolygonStop zone, or slows down within a PolygonSlow zone as it nears obstacles.
Quick Start
Configure the collision_monitor YAML block and polygons, then deploy the Nav2 pipeline to enable real-time safety checks.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: collision-monitor Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#collision-monitor Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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