This test module is based on Centauro robot, so remember to set a proper xbot config file. Below are the steps to run this test module.
First, turn on roscore and xbotcore individually.
Terminal 1:
$ roscore
Terminal2:
$ XBotCore -D
Then turn on rviz.
Terminal 3:
$ rosrun rviz rviz -d test_collision_avoidance.rviz
At last, turn on XBotCommunicationPlugin and run the test code:
Terminal 4:
$ rosservice call /XBotCommunicationPlugin_switch 1
$ rosrun test_collision_avoidance test_collision_avoidance
After doing all thest, you should be able to see something like the enclosed video.