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@@ -0,0 +1,26 @@
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+package main
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+
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+import (
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+ "github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
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+)
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+
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+func Topic() string {
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+ return "/obstacle_detection"
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+}
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+
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+func Label() string {
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+ return "obstacledetection"
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+}
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+
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+func Rule(data *std_msgs.UInt8) string {
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+ /*
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+ 0-表示导航前方无障碍物，
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+ 1-表示找不到全局路径
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+ 2-表示前方有障碍物但能绕过去
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+ 3-表示前方有障碍物且局部规划不过去
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+ */
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+ if data.Data == 3 {
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+ return "obstacledetection"
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+ }
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+ return ""
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+}
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