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Package Summary

Tags No category tags.
Version 2.0.0
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git
VCS Type git
VCS Version master
Last Updated 2022-10-04
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A small helper node that stops and restarts ROS controllers based on a boolean status topic.

Additional Links

No additional links.

Maintainers

  • Felix Exner

Authors

No additional authors.

controller_stopper

A small helper node that stops and restarts ROS controllers based on a boolean status topic. When the status goes to false, all running controllers except a set of predefined consistent_controllers get stopped. If status returns to true the stopped controllers are restarted.

Nodes

controller_stopper_node

Parameters

consistent_controllers (default: ["joint_state_controller"])

Consistent controllers will not be stopped when the robot stops. Defaults to ["joint_state_controller"]

Service Clients

controller_manager/list_controllers (controller_manager_msgs/ListControllers)

Controller manager service to list controllers

controller_manager/switch_controller (controller_manager_msgs/SwitchController)

Controller manager service to switch controllers

Subscribed topics

robot_running (std_msgs/Bool)

Subscribes to a robot's running state topic. Ideally this topic is latched and only publishes on changes. However, this node only reacts on state changes, so a state published each cycle would also be fine.

CHANGELOG

Changelog for package controller_stopper

2.0.0 (2021-09-07)

  • Initial release
  • Contributors: Felix Exner, Felix Mauch, G.A. vd. Hoorn, Tristan Schnell

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged controller_stopper at answers.ros.org

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