I want to add collision detection for the turtlebot. I am following this.

I made require changes mentioned in the above article in "collisionmonitorparams.yaml" and "navigationlaunch.py". Though collisionmonitor node is publishing. I am unable to publish polygon_slowdown topic.

After adding polygonslowdown and polygonstop in the "collisionmonitorparams.yaml". only polygonstop is publishing. polygonslowdown is not publishing.

In rviz by adding polygon. Only polygonstop and footprint topics are publishing.

As there are 2 regions for slowdown and stop. they are not reflected in Rviz bot. only circle shape is around bot.But in article we can see it is of 2 rectangles around bot distinguishing 2 regions.

Unable to use collision monitor as it is to be used.