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bumpersafe [Drivers] This is a low level safety 'driver' that temporarily disables velocity commands if a bumper is pressed. It sits on top of bumper and position devices. The general concept of this device is to not do much, but to provide a last line of defense in the case that higher level drivers or client software fails in its object avoidance. Compile-time dependencies none Provides position Requires position : the underlying robot to be controlled bumper : the bumper to read from Configuration requests PLAYER_POSITION_MOTOR_POWER_REQ : if motor is switched on then we reset the 'safe state' so robot can move with a bump panel active all other requests are just passed on to the underlying position device Configuration file options none Example driver ( name "p2os" provides ["odometry::position:1" "bumper:0"] ) driver ( name "bumpersafe" provides ["position:0"] requires ["position:1" "bumper:0"] ) Authors Toby Collett