Use when implementing obstacle avoidance, protective stop zones, velocity scaling, contact detection, or safety layers on a mobile robot or manipulator. Provides layered collision-avoidance architecture: lidar stop/slow zones with exact timing budgets, proximity-based velocity scaling math, current-
Use when implementing obstacle avoidance, protective stop zones, velocity scaling, contact detection, or safety layers on a mobile robot or manipulator. Provides layered collision-avoidance architecture: lidar stop/slow zones with exact timing budgets, proximity-based velocity scaling math, current-based contact detection thresholds, costmap vs reactive (VFH, potential fields) layer selection, bli
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