Node to publish the relative position of the robot (base_frame) with respect to a fixed_frame and to publish the position of other robots as prohibited areas.
- neighbours_topic: Name of the topic where the position of the neighbours realtive to the fixed_frame are published.
- local_position_topic: Topic where the transformation between the fixed_frame and the base_frame is published.
- fixed_frame: Fixed frame used as reference (world, map, odom, etc.). It's shared by all the neighbours.
- base_frame: Frame of the robot used to get the relative position (base_link, base_footrpint, etc.).
- prohibition_layer_srv: Name of the service to publish the position of the neighbours as prohibition areas.