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00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include <ros/ros.h> 00031 #include <pr2_msgs/PowerBoardState.h> 00032 #include <std_srvs/Empty.h> 00033 #include <pr2_power_board/PowerBoardCommand.h> 00034 00035 00036 static bool last_e_stop_state_ = true; 00037 00038 void powerStateCallback(const pr2_msgs::PowerBoardStateConstPtr& msg) 00039 { 00040 if (!last_e_stop_state_ && msg->run_stop){ 00041 ROS_INFO("Run stop re-enabled. Bringing up power and resetting motors."); 00042 00043 // enable power 00044 if (!ros::service::waitForService("power_board/control", ros::Duration(5.0))){ 00045 ROS_ERROR("Could not find power board control service"); 00046 return; 00047 } 00048 pr2_power_board::PowerBoardCommand power_board_cmd; 00049 power_board_cmd.request.serial_number = msg->serial_num; 00050 power_board_cmd.request.command = "start"; 00051 for (unsigned int i=0; i<3; i++){ 00052 power_board_cmd.request.breaker_number = i; 00053 ros::service::call("power_board/control", power_board_cmd); 00054 ROS_INFO(" - Enabling breaker %i: %i",i, power_board_cmd.response.retval); 00055 } 00056 00057 // reset motors 00058 ros::Duration(2.0).sleep(); // give motors time to detect power up 00059 if (!ros::service::waitForService("pr2_etherCAT/reset_motors", ros::Duration(5.0))){ 00060 ROS_ERROR("Could not find reset motors service"); 00061 return; 00062 } 00063 std_srvs::Empty empty_cmd; 00064 ros::service::call("pr2_etherCAT/reset_motors", empty_cmd); 00065 ROS_INFO(" - Reset motors"); 00066 } 00067 00068 last_e_stop_state_ = msg->run_stop; 00069 } 00070 00071 00072 int main(int argc, char** argv) 00073 { 00074 ros::init(argc, argv, "run_stop_helper"); 00075 ros::NodeHandle node; 00076 00077 // subscribe to state of power board 00078 ros::Subscriber power_state_sub = node.subscribe("power_board/state", 1, powerStateCallback); 00079 00080 ros::spin(); 00081 00082 return 0; 00083 }