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)
Controller manager service to list controllers
-
"controller_manager/switch_controller" (controller_manager_msgs::SwitchController)
Controller manager service to switch controllers
Subscribed topics
-
"robot_running" (std_msgs::Bool)
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.