Closed Veix123 closed 10 months ago
The deadman switch feature is currently simply ignoring the other controls if the button is not active. Not a problem if the robot is standing still, but when driving around and releasing the deadman sw before vel command controls, the robot keeps on going until the 0.5-sec timeout. We should either send zero vel to the robot or even better decelerate smoothly to a full stop.
Add a param to the teleop_joy node that specifies which button on the gamepad is used for the dead man switch. Consider allowing, e.g., -1 for turning off this safety feature.