add watchdog
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parent
dba25d430b
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1e729cc9f3
@ -685,6 +685,10 @@ void RosAriaNode::publish()
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if(watchdog.toSec()+WATCHDOG<ros::Time::now().toSec())
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if(watchdog.toSec()+WATCHDOG<ros::Time::now().toSec())
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{
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{
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robot->comInt(ArCommands::ESTOP,0);
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robot->comInt(ArCommands::ESTOP,0);
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robot->setVel(0);
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if(robot->hasLatVel())
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robot->setLatVel(0);
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robot->setRotVel(0);
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// ROS_INFO("WATCHDOG %d", WATCHDOG);
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// ROS_INFO("WATCHDOG %d", WATCHDOG);
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}
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}
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}
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}
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