#include <string>
#include <vector>
#include <ros/ros.h>
#include <std_srvs/Trigger.h>
#include <geometry_msgs/Twist.h>
#include <controller_manager_msgs/SwitchController.h>

Include dependency graph for stop_detector.cpp:

Functions
void	commandsCallback (const geometry_msgs::Twist::ConstPtr &msg)

void	haltCallback (const ros::TimerEvent &)

int	main (int argc, char *argv[])

void	recover ()

void	switch_controller ()

Variables
std::vector< std::string >	g_controller_spawn

ros::ServiceClient	g_halt_client

ros::Timer	g_halt_timer

ros::ServiceClient	g_recover_client

bool	g_recovered

bool	g_recovering

ros::Timer	g_silence_timer

ros::ServiceClient	g_switch_client

double	g_threshold

ros::Duration	g_timeout

Function Documentation

◆ commandsCallback()

void commandsCallback ( const geometry_msgs::Twist::ConstPtr & msg )

Callback for command twists.

Restarts the halt_timer if twist exceeds the threshold. Additionally recovers the base if a twist exceeds the threshold and the base ist not yet recovered.

Parameters

msg	Twist message.

Definition at line 77 of file stop_detector.cpp.

◆ haltCallback()

void haltCallback ( const ros::TimerEvent & )

Definition at line 93 of file stop_detector.cpp.

◆ main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 100 of file stop_detector.cpp.

◆ recover()

void recover ( )

Definition at line 59 of file stop_detector.cpp.

◆ switch_controller()

void switch_controller ( )

Definition at line 36 of file stop_detector.cpp.

Variable Documentation

◆ g_controller_spawn

std::vector<std::string> g_controller_spawn

Definition at line 33 of file stop_detector.cpp.

◆ g_halt_client

ros::ServiceClient g_halt_client

Definition at line 24 of file stop_detector.cpp.

◆ g_halt_timer

ros::Timer g_halt_timer

Definition at line 27 of file stop_detector.cpp.

◆ g_recover_client

ros::ServiceClient g_recover_client

Definition at line 25 of file stop_detector.cpp.

◆ g_recovered

bool g_recovered

Definition at line 31 of file stop_detector.cpp.

◆ g_recovering

bool g_recovering

Definition at line 32 of file stop_detector.cpp.

◆ g_silence_timer

ros::Timer g_silence_timer

Definition at line 28 of file stop_detector.cpp.

◆ g_switch_client

ros::ServiceClient g_switch_client

Definition at line 26 of file stop_detector.cpp.

◆ g_threshold

double g_threshold

Definition at line 30 of file stop_detector.cpp.

◆ g_timeout

ros::Duration g_timeout

Definition at line 29 of file stop_detector.cpp.

Functions

Variables