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usdot-fhwa-stol / carma-msgs

ROS Message definitions used by the CARMA Platform
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Add SetActivateRobotic service #134

Closed adamlm closed 3 years ago

adamlm commented 3 years ago

Types of Issue

Descriptive summary

The VESC controller used in the C1T vehicle does not have an interface for activating or deactivating autonomous control, so the only way to toggle the robot_active field in the RobotEnabled messages is with a ROS service (or some other programmatic way).

This issue proposes adding a new service type for setting the robot_active field, similar to how SetEnableRobotic.srv is used for robot_enabled.

Carma version where this issue was discovered

Enhancement would be applied to noetic/develop.

Expected behavior

A successful implementation would introduce the SetActivateRobotic.srv service, which would be used to activate or deactivate a hardware interface controller module (e.g., the VESC on the C1T vehicle).

Actual behavior

See Expected behavior above.

Steps to reproduce the actual behavior

  1. Do this
  2. Then do this...

Related work

adamlm commented 3 years ago

After discussion (see #135), conclusion is this feature is unnecessary.