stop_detector.cpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
#include <string>
#include <vector>
#include <ros/ros.h>
#include <std_srvs/Trigger.h>
#include <geometry_msgs/Twist.h>
#include <controller_manager_msgs/SwitchController.h>
 
ros::ServiceClient g_halt_client;
ros::ServiceClient g_recover_client;
ros::ServiceClient g_switch_client;
ros::Timer g_halt_timer;
ros::Timer g_silence_timer;
ros::Duration g_timeout;
double g_threshold;
bool g_recovered;
bool g_recovering;
std::vector<std::string> g_controller_spawn;
 
 
void switch_controller(){
    controller_manager_msgs::SwitchController switch_srv;
    switch_srv.request.start_controllers = g_controller_spawn;
    switch_srv.request.strictness = 1;  // BEST_EFFORT
    //switch_srv.request.strictness = 2;  // STRICT
 
    if (g_switch_client.call(switch_srv))
    {
        if (switch_srv.response.ok)
        {
            ROS_INFO("Successfully switched controllers");
        }
        else
        {
            ROS_ERROR("Could not switch controllers");
        }
    }
    else
    {
        ROS_ERROR("ServiceCall failed: switch_controller");
    }
}
 
void recover(){
    g_recovering = true;
    std_srvs::Trigger srv;
    ROS_INFO("Recovering");
    g_recover_client.call(srv);
    switch_controller();
    g_recovered = srv.response.success;
    g_recovering = false;
}
 
void commandsCallback(const geometry_msgs::Twist::ConstPtr& msg){
    if (fabs(msg->linear.x) >= g_threshold ||
        fabs(msg->linear.y) >= g_threshold ||
        fabs(msg->linear.z) >= g_threshold ||
        fabs(msg->angular.x) >= g_threshold ||
        fabs(msg->angular.y) >= g_threshold ||
        fabs(msg->angular.z) >= g_threshold) {
        g_halt_timer.stop();
        if (!g_recovered && !g_recovering) {
            recover();
        }
        ROS_DEBUG("Robot is moving, restarting halt timer");
        g_halt_timer.start();
    }
}
 
void haltCallback(const ros::TimerEvent&){
    g_recovered = false;
    std_srvs::Trigger srv;
    ROS_INFO_STREAM("Halt, no movement commands received for " << g_timeout << " seconds");
    g_halt_client.call(srv);
}
 
int main(int argc, char* argv[])
{
    ros::init(argc, argv, "cob_stop_detector");
    
    ros::NodeHandle nh;
    ros::NodeHandle nh_priv("~");
    
    double timeout;
    if(!nh_priv.getParam("timeout", timeout) || timeout <= 0.0){
        ROS_ERROR("Please provide valid timeout");
        return 1;
    }
 
    if(!nh_priv.getParam("threshold", g_threshold)){
        ROS_ERROR("Please provide stop threshold");
        return 1;
    }
 
    g_recovered = true;
    g_recovering = false;
    g_timeout = ros::Duration(timeout);
    g_controller_spawn = {"joint_state_controller", "twist_controller"};
 
    g_halt_client = nh.serviceClient<std_srvs::Trigger>("driver/halt");
    g_recover_client = nh.serviceClient<std_srvs::Trigger>("driver/recover");
    g_switch_client = nh.serviceClient<controller_manager_msgs::SwitchController>("controller_manager/switch_controller");
    g_halt_client.waitForExistence();
    g_recover_client.waitForExistence();
    g_switch_client.waitForExistence();
    g_halt_timer = nh.createTimer(g_timeout, haltCallback, true, false); //oneshot=true, auto_start=false
    ros::Subscriber command_sub = nh.subscribe("twist_controller/command", 10, commandsCallback);
 
    ros::spin();
    return 0;
}