L1.5/rosaria
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add watchdog

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This commit is contained in:
Damian Barański 2015-02-23 11:19:04 +01:00
parent dba25d430b
commit 1e729cc9f3
1 changed files with 4 additions and 0 deletions
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4
RosAria.cpp
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@ -685,6 +685,10 @@ void RosAriaNode::publish()
if(watchdog.toSec()+WATCHDOG<ros::Time::now().toSec()) if(watchdog.toSec()+WATCHDOG<ros::Time::now().toSec())
{ {
robot->comInt(ArCommands::ESTOP,0); robot->comInt(ArCommands::ESTOP,0);
robot->setVel(0);
if(robot->hasLatVel())
robot->setLatVel(0);
robot->setRotVel(0);
// ROS_INFO("WATCHDOG %d", WATCHDOG); // ROS_INFO("WATCHDOG %d", WATCHDOG);
} }
} }