Obstacle testing

My ~workflow

#make sure to compile 
# open lots of terminals and source in each
source ./devel/setup.bash
#run sim, @NOTE: I do run it differently for my system
./srcp2-competitors/docker/scripts/launch/roslaunch_docker --run-round 1 

#runs the odom, obstacle, minicore, & driver nodes
roslaunch ./launch/scoot.launch "name:=scout_1"

#I don't use gazebo to see, this will open a camera view from the left camera
rosrun image_view image_view image:=/scout_1/camera/left/image_raw

# I suggest using the teleop to get fine motion to position obstacles
rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/scout_1/skid_cmd_vel

# echo out the obstacle being published / tested
rostopic echo /scout_1/obstacle

I suggest having the message file open for reference SC2/src/obstacle/msg/Obstacles.msg

Yeah if something was within both left and right warning_distance you would get PATH_IS_CLEAR | LIDAR_LEFT | LIDAR_RIGHT so 0 | 1 | 2 == 3 msg = 3 mask = 15

If something would physically block the forward movement of the rover within safe_distance you would get PATH_IS_CLEAR | LIDAR_BLOCK == 0|8 msg = 8 mask = 15