Bumpers with Turtlebot 2

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Hi CarolineQ,

the safety controller for Kobuki also works with Turtlebot 2. However, you have to adapt the launch file a bit. This modified version of kobuki_keyop/safe_keyop.launch file should allow you to drive your turtlebot around with the safety controller watching over it.

<!--
  Keyop configuration for working with the default Turtlebot launcher (minimal.launch). 
 -->
<launch>
  <node pkg="nodelet" type="nodelet" name="kobuki_safety_controller" args="load kobuki_safety_controller/SafetyControllerNodelet mobile_base_nodelet_manager">
    <remap from="kobuki_safety_controller/cmd_vel" to="cmd_vel_mux/input/safety_controller"/>
    <remap from="kobuki_safety_controller/events/bumper" to="mobile_base/events/bumper"/>
    <remap from="kobuki_safety_controller/events/cliff" to="mobile_base/events/cliff"/>
    <remap from="kobuki_safety_controller/events/wheel_drop" to="mobile_base/events/wheel_drop"/>
  </node>

  <node pkg="nodelet" type="nodelet" name="keyop_vel_smoother" args="load yocs_velocity_smoother/VelocitySmootherNodelet mobile_base
_nodelet_manager">
    <rosparam file="$(find kobuki_keyop)/param/keyop_smoother.yaml" command="load"/>
    <remap from="keyop_vel_smoother/odometry" to="odom"/>
    <remap from="keyop_vel_smoother/smooth_cmd_vel" to="cmd_vel_mux/input/teleop"/>
  </node>

  <node pkg="kobuki_keyop" type="keyop" name="keyop" output="screen">
    <remap from="keyop/motor_power" to="mobile_base/commands/motor_power"/>
    <remap from="keyop/cmd_vel" to="keyop_vel_smoother/raw_cmd_vel"/>
    <param name="linear_vel_step"  value="0.05" type="double"/>
    <param name="linear_vel_max"   value="1.5"  type="double"/>
    <param name="angular_vel_step" value="0.33" type="double"/>
    <param name="angular_vel_max"  value="6.6"  type="double"/>
    <param name="wait_for_connection_" value="true" type="bool"/>
  </node>
</launch>

The major difference between kobuki_node/minimal.launch and turtlebot_bringup/minimal.launch is, that the latter already starts the velocity muxer. That plus few adjustments to the topic remappings is all that is needed.

I suggest, you start with this launch file and adapt it to your needs.

Good luck!