Stretch's ROS 2 driver recently added a service called /self_collision_avoidance of type std_srvs/SetBool, which enables programs to enable/disable self-collision avoidance on the fly. Self-collision avoidance is a safety feature where Stretch can detect and prevent self collisions between Stretch's arm and its own body.
Let's add a button to the interface which allows users to enable/disable this safety feature.
Stretch's ROS 2 driver recently added a service called
/self_collision_avoidanceof type std_srvs/SetBool, which enables programs to enable/disable self-collision avoidance on the fly. Self-collision avoidance is a safety feature where Stretch can detect and prevent self collisions between Stretch's arm and its own body.Let's add a button to the interface which allows users to enable/disable this safety feature.