Problem Summary:
When the robot is disabled/not moving due to hardware/firmware issues or obstacles, and the planner keeps feeding non-zero velocity commands to the robot, we need to inform the users know something is wrong with the robot that it is ignoring cmd_vel.
Feature:
This is an implementation of the velocity ignored checking and error displaying feature. When the robot is not moving for N seconds(set by a parameter) while the planner keeps publishing non-zero commands, it will output an error and fatal message on the ROS console and sends a error code. Velocity command ignored check is performed every time we got an new velocity command from the planner.
If user would like to enable the feature, change the cmd_vel_ignored_tolerance parameter to be higher than zero. Otherwise, set a value below zero.
Problem Summary: When the robot is disabled/not moving due to hardware/firmware issues or obstacles, and the planner keeps feeding non-zero velocity commands to the robot, we need to inform the users know something is wrong with the robot that it is ignoring cmd_vel.
Feature: This is an implementation of the velocity ignored checking and error displaying feature. When the robot is not moving for N seconds(set by a parameter) while the planner keeps publishing non-zero commands, it will output an error and fatal message on the ROS console and sends a error code. Velocity command ignored check is performed every time we got an new velocity command from the planner.
If user would like to enable the feature, change the
cmd_vel_ignored_toleranceparameter to be higher than zero. Otherwise, set a value below zero.