Add emergency halt publisher#19
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niemsoen wants to merge 96 commits intorelffok:galactic-develfrom
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Added headless launch file to mir_driver
added mir_bridge_ready publisher
…into galactic-devel
This reverts commit f31efb8.
…msoen/mir_robot into mir-bridge-as-service-server
Mir bridge as service server
…into galactic-devel
…gfix Launch mir_restapi_server in external driver
…robot into mir-restapi-sounds
…to mir-restapi-sounds
* add publisher for emergency halt * fix cyclic emergency halt checking interrupts rosbridge * improved terminal output Co-authored-by: Sönke Niemann <soenke.niemann@ipk.fraunhofer.de>
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It's not necessary to use the REST API to get the emergency status. The emergency status is already published as part of the RobotState message: mir_robot/mir_msgs/msg/RobotState.msg Line 12 in 89e4598 All we need to do is uncomment this line to get it published: mir_robot/mir_driver/mir_driver/mir_bridge.py Line 294 in 89e4598 |
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Adding a publisher to the rosbridge, that publishes a message, should the emergency halt be triggered, so that this can be used as trigger in other ROS nodes.