Class SafetyController
Defined in File safety_controller.hpp
Inheritance Relationships
Base Type
public rclcpp::Node
Class Documentation
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class SafetyController : public rclcpp::Node
@ brief Keeps track of safety-related events and commands Kobuki to move accordingly
The SafetyController keeps track of bumper, cliff and wheel drop events. In case of the first two, Kobuki is commanded to move back. In the latter case, Kobuki is stopped. All commands stop when the event condition disappears. In the case of lateral bump/cliff, robot also spins a bit, what makes easier to escape from the risk.
This controller can be enabled/disabled. The safety states (bumper pressed etc.) can be reset. WARNING: Dangerous!
Public Functions
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explicit SafetyController(const rclcpp::NodeOptions &options)
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~SafetyController() override
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SafetyController(SafetyController &&c) = delete
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SafetyController &operator=(SafetyController &&c) = delete
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SafetyController(const SafetyController &c) = delete
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SafetyController &operator=(const SafetyController &c) = delete
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explicit SafetyController(const rclcpp::NodeOptions &options)