# controller_stopper

A small helper node that stops and restarts ROS controllers based on a boolean status topic.

When the status goes to `false`, all running controllers except a set of predefined
*consistent_controllers* get stopped. If status returns to `true` the stopped controllers are
restarted.

## Nodes
### controller_stopper_node



#### Parameters
 * **"consistent_controllers (list of strings)"**

    Consistent controllers will not be stopped when the robot stops. Defaults to  ["joint_state_controller"]

#### Service Clients
 * **"controller_manager/list_controllers"** ([controller_manager_msgs::ListControllers](http://docs.ros.org/api/controller_manager_msgs/html/srv/ListControllers.html))

    Controller manager service to list controllers

 * **"controller_manager/switch_controller"** ([controller_manager_msgs::SwitchController](http://docs.ros.org/api/controller_manager_msgs/html/srv/SwitchController.html))

    Controller manager service to switch controllers

#### Subscribed topics
 * **"robot_running"** ([std_msgs::Bool](http://docs.ros.org/api/std_msgs/html/msg/Bool.html))

    Subscribes to a robot's running state topic. Ideally this topic is latched and only publishes  on changes. However, this node only reacts on state changes, so a state published each cycle  would also be fine.