safety_limiter package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

safety_limiter

safety_limiter node limits vehicle velocity to avoid collisions based on the linear prediction of the motion.

Subscribed topics

• ~/cmd_vel_in (new: cmd_vel_in) [geometry_msgs::Twist]
• ~/cloud (new: cloud) [sensor_msgs::PointCloud2]
• ~/disable (new: disable_safety) [std_msgs::Bool]
• ~/watchdog_reset (new: watchdog_reset) [std_msgs::Empty]
• /tf

Published topics

• ~/cmd_vel_out (new: cmd_vel) [geometry_msgs::Twist]
• ~/collision (new: collision) [sensor_msgs::PointCloud]

Services

Called services

Parameters

• “freq” (double, default: 6.0)
• “cloud_timeout” (double, default: 0.8)
• “disable_timeout” (double, default: 0.1)
• “lin_vel” (double, default: 0.5)
• “lin_acc” (double, default: 1.0)
• “ang_vel” (double, default: 0.8)
• “ang_acc” (double, default: 1.6)
• “z_range_min” (double, default: 0.0)
• “z_range_max” (double, default: 0.5)
• “dt” (double, default: 0.1)
• “d_margin” (double, default: 0.2)
• “yaw_margin” (double, default: 0.2)
• “downsample_grid” (double, default: 0.05)
• “frame_id” (string, default: std::string(“base_link”))
• “footprint” (?, default: footprint_xml)

Changelog for package safety_limiter

0.18.2 (2025-07-16)

• Revert "safety_limiter: add centrifugal acceleration limit (#774)" (#784)
• safety_limiter: add centrifugal acceleration limit (#774)
• Contributors: Atsushi Watanabe, nabeya11

0.18.1 (2025-06-06)

0.18.0 (2025-05-13)

0.17.7 (2025-04-16)

0.17.6 (2025-03-18)

0.17.5 (2025-02-21)

0.17.4 (2025-01-20)

0.17.3 (2024-12-25)

0.17.2 (2024-11-07)

0.17.1 (2024-03-22)

0.17.0 (2023-11-02)

0.16.0 (2023-09-14)

0.15.0 (2023-08-30)

0.14.2 (2023-07-31)

0.14.1 (2023-07-07)

0.14.0 (2023-06-06)

0.13.0 (2023-05-31)

0.12.2 (2023-02-28)

0.12.1 (2023-02-25)

• safety_limiter: update config to stabilize simulation test (#668)
• safety_limiter: fix flaky simulation tests (#664)
• Contributors: Atsushi Watanabe

0.12.0 (2023-01-30)

0.11.8 (2022-12-28)

• safety_limiter: make sure to keep margin from obstacles (#654)
• Contributors: Kazuki Takahashi

0.11.7 (2022-08-05)

• safety_limiter: enable omni-directional safety brake (#646)
• Contributors: Naotaka Hatao

0.11.6 (2022-07-20)

0.11.5 (2022-07-06)

0.11.4 (2022-04-13)

0.11.3 (2021-12-02)

• Fix flaky tests and add debug outputs (#628)
• Contributors: Atsushi Watanabe

0.11.2 (2021-11-08)

0.11.1 (2021-10-29)

0.11.0 (2021-08-30)

• Apply clang-format-11 with new setting (#605)
• Contributors: Naotaka Hatao

0.10.11 (2021-06-21)

0.10.10 (2021-03-18)

0.10.9 (2021-03-16)

0.10.8 (2021-03-10)

0.10.7 (2021-03-07)

• safety_limiter: add a max_linear_vel and max_angular_vel

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