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ROBOTIS-GIT / OpenCR

Software for ROS Embedded board (a.k.a. OpenCR). OpenCR means Open-source Control Module for ROS.
Apache License 2.0
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tb3_{burger,waffle}/ros: track velocity commands for timeouts #169

Closed nlimpert closed 5 years ago

nlimpert commented 5 years ago

This PR fixes an issue with the TB3 firmware not stopping the robot even though there are no new velocity commands. The situation with our TB3 Waffle was as follows:

  1. The robot started motion from commands gathered by move_base.
  2. The Raspberry PI crashed, probably due to some onboard power outage. As such there was no serial connection anymore sending new velocity commands.
  3. The robot remained in its last velocity command and drove from a cliff.
nlimpert commented 5 years ago

Any issue with this PR?

JaehyunShim commented 5 years ago

source code tested