# This message defines the status for obstacle avoidance in both indoor & outdoor applications. 
# It's used for low-level motion control and other tasks, and it supports the Pursuit products only.

std_msgs/Header 	header

bool  flag_obstacle_in_far_front   # Obstacle is in far front of the vehicle
bool  flag_obstacle_far_nearby  # Obstacle is in the neighbourhood of the vehicle with a large distance
bool  flag_obstacle_in_front       # Obstacle is in front of the vehicle
bool  flag_obstacle_in_rear        # Obstacle is at the back of the vehicle
bool  flag_obstacle_nearby         # Obstacle is within a small distance from the vehicle
bool  flag_nav_task_active         # True when navigation task is active onboard
bool  flag_nav_local_plan_valid    # The local plan from navigation is valid for obstacle avoidance
bool  flag_laser_scan_data_valid   # Laser scan data is valid for obstacle detection