collision.msg

Header header                           # Msg header.
bool acc_trigger                        # If acc has trigger the collision detection.
float32 acc_peak                        # Acceleration peak at collision
float32 acc_angle                       # Estimation of the collision angle from accelerometer data.

bool ang_vel_trigger                    # If angular velocity has trigger the collision detection.
float32 ang_vel_diff_peak               # Angular velocity difference peak between IMU data and odometry.

bool front_icp_check                    # If front ICP checks that is a collision.
int32 front_icp_points                  # Front ICP laser scan matching points.
float32 front_icp_err                   # Front ICP error per point.
geometry_msgs/Pose2D front_odom_diff    # Difference between Odometry and front laser ICP.
float32[9] front_covariance             # Front ICP odometry covariance.

bool rear_icp_check                     # If rear ICP checks that is a collision.
int32 rear_icp_points                   # Rear ICP laser scan matching points.
float32 rear_icp_err                    # Rear ICP error per point.
geometry_msgs/Pose2D rear_odom_diff     # Difference between Odometry and rear laser ICP.
float32[9] rear_covariance              # Rear ICP odometry covariance.