debug

rota_2024@Rota:~$ ros2 topic info /polygon_stop
Type: geometry_msgs/msg/PolygonStamped
Publisher count: 1
Subscription count: 1

rota_2024@Rota:/opt/ros/iron/share/nav2_collision_monitor/launch$ ros2 node info /collision_monitor
/collision_monitor
  Subscribers:
    /bond: bond/msg/Status
    /clock: rosgraph_msgs/msg/Clock
    /cmd_vel_raw: geometry_msgs/msg/Twist
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /scan: sensor_msgs/msg/LaserScan
  Publishers:
    /bond: bond/msg/Status
    /cmd_vel: geometry_msgs/msg/Twist
    /collision_monitor/collision_points_marker: visualization_msgs/msg/MarkerArray
    /collision_monitor/transition_event: lifecycle_msgs/msg/TransitionEvent
    /collision_monitor_state: nav2_msgs/msg/CollisionMonitorState
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /polygon_stop: geometry_msgs/msg/PolygonStamped
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /collision_monitor/change_state: lifecycle_msgs/srv/ChangeState
    /collision_monitor/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /collision_monitor/get_available_states: lifecycle_msgs/srv/GetAvailableStates
    /collision_monitor/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions
    /collision_monitor/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /collision_monitor/get_parameters: rcl_interfaces/srv/GetParameters
    /collision_monitor/get_state: lifecycle_msgs/srv/GetState
    /collision_monitor/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions
    /collision_monitor/get_type_description: type_description_interfaces/srv/GetTypeDescription
    /collision_monitor/list_parameters: rcl_interfaces/srv/ListParameters
    /collision_monitor/set_parameters: rcl_interfaces/srv/SetParameters
    /collision_monitor/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:

  Action Clients: