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25e9aafc14
This node takes care about taking down and restarting controllers based on the robot's state. Closes #48
33 lines
1.3 KiB
Markdown
33 lines
1.3 KiB
Markdown
# controller_stopper
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A small helper node that stops and restarts ROS controllers based on a boolean status topic.
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When the status goes to `false`, all running controllers except a set of predefined
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*consistent_controllers* get stopped. If status returns to `true` the stopped controllers are
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restarted.
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## Nodes
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### controller_stopper_node
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#### Parameters
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* **"consistent_controllers (list of strings)"**
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Consistent controllers will not be stopped when the robot stops. Defaults to ["joint_state_controller"]
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#### Service Clients
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* **"controller_manager/list_controllers"** ([controller_manager_msgs::ListControllers](http://docs.ros.org/api/controller_manager_msgs/html/srv/ListControllers.html))
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Controller manager service to list controllers
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* **"controller_manager/switch_controller"** ([controller_manager_msgs::SwitchController](http://docs.ros.org/api/controller_manager_msgs/html/srv/SwitchController.html))
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Controller manager service to switch controllers
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#### Subscribed topics
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* **"robot_running"** ([std_msgs::Bool](http://docs.ros.org/api/std_msgs/html/msg/Bool.html))
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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.
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