JointGroupVelocityController: stop motion if no commands received

ros-controls / ros_controllers

Generic robotic controllers to accompany ros_control

http://wiki.ros.org/ros_control

BSD 3-Clause "New" or "Revised" License

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JointGroupVelocityController: stop motion if no commands received #625

Open rhaschke opened 7 months ago

rhaschke commented 7 months ago

As a safety measure, this PR adapts the JointGroupVelocityController to reset control velocities to zero if no new command was received within a configurable interval (watchdog_timeout). If the steering process crashes or just finishes without resetting the velocity itself, the robot would otherwise just continue moving with the last speed commanded (and crash into something probably). I have chosen a rather large default timeout (1s) to limit interferences with existing code.

wxmerkt commented 6 months ago

Related issue and PR: #363 / #582

rhaschke commented 5 months ago

It's a pity that your initial PR wasn't merged yet, @wxmerkt. @bmagyar, how should we proceed with the two PRs addressing the same original issue?