L1.5/ros2aria
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redesign and reimplement the safety system #11

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opened 2021-05-14 14:09:43 +02:00 by wkwolek · 3 comments
wkwolek commented 2021-05-14 14:09:43 +02:00
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  • /PIONIER6/RosAria/user_stop [std_msgs/Bool]
  • /PIONIER/master_stop [std_msgs/Bool]
  • /PIONIER/restrictions [rosaria_msgs/RestrictionsMsg]
* /PIONIER6/RosAria/user_stop [std_msgs/Bool] * /PIONIER/master_stop [std_msgs/Bool] * /PIONIER/restrictions [rosaria_msgs/RestrictionsMsg]
wkwolek added this to the reimplement ros1 functionality project 2021-05-14 14:09:44 +02:00
wkwolek commented 2021-05-21 12:37:17 +02:00
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robot state publishers will need to be published to publish the safety system's state

robot state publishers will need to be published to publish the safety system's state
jdelicat commented 2023-06-21 19:30:15 +02:00
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I think this will be the easiest way to do this:
L1.5/l1.5-safety-system#1

  • Add a lidar subscriber to avoid obstacles.
  • Add a restrictions subscriber.
  • Add velocity limits from restrictions.
  • Add clutch release.
I think this will be the easiest way to do this: https://denali.kcir.pwr.edu.pl/git/L1.5/l1.5-safety-system/issues/1 - [x] Add a lidar subscriber to avoid obstacles. - [x] Add a restrictions subscriber. - [x] Add velocity limits from restrictions. - [ ] Add clutch release.
jdelicat reopened this issue 2023-06-21 19:30:20 +02:00
jdelicat commented 2023-08-17 09:42:13 +02:00
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https://denali.kcir.pwr.edu.pl/git/L1.5/safety_user_plugin/src/branch/ros2-development
https://denali.kcir.pwr.edu.pl/git/L1.5/safety_master_plugin/src/branch/ros2-development

https://denali.kcir.pwr.edu.pl/git/L1.5/safety_user_plugin/src/branch/ros2-development https://denali.kcir.pwr.edu.pl/git/L1.5/safety_master_plugin/src/branch/ros2-development
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Reference: L1.5/ros2aria#11
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