omniWheelCareRobot/rosCode/src/carebot_follower/launch/includes/safety_controller.launch.xml

<launch>
  <!-- safety controller -->
  <!-- Disabling for now - in practice it doesn't seem to be working as conveniently as expected.
  <node pkg="nodelet" type="nodelet" name="kobuki_safety_controller" args="load kobuki_safety_controller/SafetyControllerNodelet mobile_base_nodelet_manager">
    <remap from="kobuki_safety_controller/cmd_vel" to="cmd_vel_mux/input/safety_controller"/>
    <remap from="kobuki_safety_controller/events/bumper" to="mobile_base/events/bumper"/>
    <remap from="kobuki_safety_controller/events/cliff" to="mobile_base/events/cliff"/>
    <remap from="kobuki_safety_controller/events/wheel_drop" to="mobile_base/events/wheel_drop"/>
  </node>
  -->
</launch>