cicv_data_closed_loop/trigger/pji/obstacle_detection/obstacledetection/main/obstacledetection.go

package main

import (
	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
)

func Topic() string {
	return "/obstacle_detection"
}

func Label() string {
	return "obstacledetection"
}

func Rule(data *std_msgs.UInt8) string {
	/*
		0-表示导航前方无障碍物，
		1-表示找不到全局路径
		2-表示前方有障碍物但能绕过去
		3-表示前方有障碍物且局部规划不过去
	*/
	if data.Data == 3 {
		return "obstacledetection"
	}
	return ""
}