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collision-monitor

Configures Nav2 collision monitor safety polygons and velocity-limiting zones for ROS2 robots.

Updated Aug 16, 2026
Search Tags:#ros2#lidar#robot navigation#nav2#cmd_vel#collision monitor#safety zones
One-click install
npx skills add https://github.com/three1324/yeonjinautomotive --skill collision-monitor-three1324
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: collision-monitor
Source: https://github.com/three1324/yeonjinautomotive/tree/main/.claude/skills/collision-monitor
Command: npx skills add https://github.com/three1324/yeonjinautomotive --skill collision-monitor-three1324

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve? Robots need a reactive, last-line safety layer that stops or slows motion based on raw sensor data before velocity commands reach the motors, catching obstacles that costmap-based planning misses. ## Core Features & Use Cases - Layered Safety Zones: Define concentric stop, slowdown, and approach polygons (circle, polygon, or footprint-based) evaluated against live sensor data. - Multiple Observation Sources: Integrate LaserScan, PointCloud2, and Range (sonar/IR/VL53L0X) sensors with configurable timeouts and height filters. - Action Types: Apply stop, slowdown, limit, or time-to-collision approach behaviors with noise filtering via max_points thresholds. - Use Case: A warehouse AMR uses a 0.22m circular stop zone matching its footprint, a slowdown rectangle ahead, and an approach zone that decelerates smoothly when a person walks into its path. ## Quick Start Configure the Nav2 collision monitor with a stop polygon, a slowdown zone, and a laser scan source for my robot.

Frequently Asked Questions about collision-monitor

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I configure the Nav2 collision monitor stop zone?▼

Define a polygon in the collision_monitor ros__parameters with type circle or polygon, set action_type to stop, and list it in the polygons parameter. A circle with radius matching the robot footprint works well as the innermost stop zone.

What is the difference between collision monitor and costmap obstacle avoidance?▼

The collision monitor is a reactive safety system acting on raw sensor readings with minimal delay, while costmap avoidance plans around processed grid data. The monitor catches fast obstacles and data that has not propagated through the costmap pipeline.

Can the Nav2 collision monitor use sonar or VL53L0X range sensors?▼

Yes, add an observation source with type range pointing at the sensor's topic, such as /sonar/range. It also supports LaserScan and PointCloud2 sources, each with min_height and max_height filters.

Why does my robot stop for no visible reason with collision monitor?▼

A max_points value of 1 is too sensitive to sensor noise. Increase max_points to 3 or more so isolated spurious readings do not trigger the stop or slowdown action.

Where should the collision monitor sit in the velocity pipeline?▼

It must be the last node before the motor driver, after the velocity smoother: Controller to Velocity Smoother to Collision Monitor to Motor Driver. Nothing should modify cmd_vel after it.

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