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schmerl / LLStaging

Staging area for releases to Lincoln Labs
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make sure gazebo won't move the robot after the battery dies #25

Closed ivoysey closed 7 years ago

schmerl commented 7 years ago

Can send a motor_power msg to /mobile_base/command/motor_power, e.g.:

rostopic pub /mobile_base/commands/motor_power kobuki_msgs/MotorPower '{state: 0}'

ivoysey commented 7 years ago

What's the semantics of that, inside ROS? Does it just tell that motor to never run again?

schmerl commented 7 years ago

It tells it to ignore any commands to the wheels.

ivoysey commented 7 years ago

OK, yeah, and that's sufficient because we're only being judged on things that are visible through observe, like position and timeliness. So even if commands keep getting sent, they won't have any effect on anything that's included in the evaluation. Got it.

---Ian

On 17 February 2017 at 16:23, schmerl notifications@github.com wrote:

It tells it to ignore any commands to the wheels.

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ivoysey commented 7 years ago

cyrus's energy monitor sends "OFF" to the kobuki motor power topic when the battery hits zero, and indeed that is how brasscomms knows that the battery has hit zero. that should resolve this issue since it's the thing suggested above.