Mode services in stretch_driver improvements + bugfixes - Githubissues

hello-robot / stretch_ros

ROS packages for the Stretch mobile manipulators from Hello Robot Inc.

https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/

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Mode services in stretch_driver improvements + bugfixes #105

Closed hello-binit closed 1 year ago

hello-binit commented 1 year ago

Features:

Adds "runstopped" mode
Adds is_runstopped topic
Replaces "calibrate" term with "homing"
Adds warning if robot unhomed when driver launches
Reduces velocity timeout to 0.5s

Bugfixes:

Fixes invalid starting mode bug
Fixes action server attempting position commands during runstop bug
Fixes homing during stowing or vice versa bug
Notes undefined behavior for runstopping mid homing or stowing

Documentation:

Adds the /mode topic
Adds the /is_homed topic
Adds the /is_runstopped topic
Adds the /home_the_robot service
Fixes the /stow_the_robot service
Adds the /runstop service
Deprecates the /is_calibrated topic
Deprecates the /calibrate_the_robot service