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Package Summary
| Tags | No category tags. |
| Version | 0.3.12 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/utexas-bwi/bwi_common.git |
| VCS Type | git |
| VCS Version | indigo |
| Last Updated | 2018-03-01 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jack O'Quin
Authors
- Jack O'Quin
Overview
The stop_base ROS
package provides a controller node for pausing and resuming robot motion
by interrupting the /cmd_vel topic used by move base and other
navigation components.
ROS interface
stop_base_controller
This node provides a simple service interface for interrupting the motion commands being passed to the robot base.
Subscribed topics
cmd_vel (geometry_msgs/Twist)
: Robot movement requests.
Published topics
cmd_vel_safe (geometry_msgs/Twist)
: Robot movement commands passed through unmodified if the controller is in the RUNNING state, otherwise the robot is commanded to stop.
stop_base_status (bwi_msgs/StopBaseStatus)
: The current status of this controller (latched topic).
Services
stop_base (bwi_msgs/StopBase)
: ROS service interface for temporarily or permanently stopping robot base motion.
There can be multiple requesters, so the current status returned in the response message may not match the original request, but that request will remain active until it can be honored.
If more than one requester sets a PAUSED status, the robot base will remain motionless until they all request RUNNING again. If any requester sets STOPPED, no further requests will be met, the status remaining permantently STOPPED.
Requester names should be sufficiently unique to avoid multiple requesters picking the same string. A reasonable choice is the ROS node name.
Usage
$ rosrun stop_base stop_base_controller
request node
This node provides a command line interface for requesting
stop_base_controller state transitions.
Usage
rosrun stop_base request <status>
Where <status> can be:
RUNNING,runningorrPAUSED,pausedorpSTOPPED,stoppedors
Change history
0.3.12 (2016-09-14)
0.3.11 (2016-08-27)
0.3.10 (2016-08-15)
0.3.9 (2016-08-05)
0.3.8 (2016-06-06)
- stop_base: fix unit tests (#53)
- fixed file permissions for nodes.
- Contributors: Jack O\'Quin, Piyush Khandelwal
0.3.7 (2015-09-22)
- install stop_base nodes (#37)
- stop_base: fix broken links in README
- Contributors: Jack O\'Quin
0.3.6 (2015-08-25)
0.3.5 (2015-08-22)
- stop_base: eliminate catkin lint errors (#31)
- Contributors: Jack O\'Quin
0.3.4 (2015-08-19)
0.3.3 (2015-08-05)
- stop_base: add request node (#23)
- New stop_base controller package (#23, utexas-bwi/segbot#41)
- Contributors: Jack O\'Quin