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ipa320 / cob_gazebo_plugins

Apache License 2.0
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Use collision_monitor to stop motion #16

Closed fmessmer closed 7 years ago

fmessmer commented 8 years ago

If we want to keep behavior consistent, when this node is used on hardware, we might want to add a subscriber to state_valid here as well and mimic the "e-stop" behavior" (see https://github.com/ros-simulation/gazebo_ros_pkgs/pull/283)

mathias-luedtke commented 7 years ago

Perhaps we should try again to merge our changes back.. https://github.com/ros-simulation/gazebo_ros_pkgs/pull/283 has its logic inverted.. Our collision monitor sends true if everything is fine (high level means okay in safety devices), but the gazebo plugin would stop in this case. (so we need a topic_tools transform in between)

fmessmer commented 7 years ago

estop behavior is added in #22

fmessmer commented 7 years ago

state_valid behavior is added in #23 @ipa-mdl FYI

fmessmer commented 7 years ago

both behaviors are available now