From 1e729cc9f398fae62c60685a6978d52d3328459b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Damian=20Bara=C5=84ski?= <damian.baranski@pwr.wroc.pl>
Date: Mon, 23 Feb 2015 11:19:04 +0100
Subject: [PATCH] add watchdog

---
 RosAria.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/RosAria.cpp b/RosAria.cpp
index d35cfad..4bc9300 100644
--- a/RosAria.cpp
+++ b/RosAria.cpp
@@ -685,6 +685,10 @@ void RosAriaNode::publish()
   if(watchdog.toSec()+WATCHDOG<ros::Time::now().toSec())
   {
     robot->comInt(ArCommands::ESTOP,0);
+        robot->setVel(0);
+    if(robot->hasLatVel())
+      robot->setLatVel(0);
+    robot->setRotVel(0);
     // ROS_INFO("WATCHDOG %d", WATCHDOG);
   }
 }