This package allows to implement the E Stop with brakes functionality. It creates a node that listens to e stop signal from arduino and upon button press sends signal to pure_pursuit node that sets all the velocity values to zero, making the car stop.
Following are the requirements for the package.
- Python 2.7
- ROS Melodic
catkin build
or
catkin_make
To launch the package, simple use roslaunch command.
source devel/setup.bash
roslaunch igvc_estop estop_listener_node.launch
Using roslaunch won't require launching roscore separately.
To run the package, simple use rosrun command.
source devel/setup.bash
rosparam set "estop_topic_name" "gem_estop"
rosrun igvc_estop estop_listener.py
Before running rosrun, make sure roscore is running.
The node estop_btn_event_listener will listen to the rostopic (default="gem_estop") mentioned in the file estop_listener_node.launch. If the topic gem_estop value is set to true, estop_btn_event_listenersends signal to pure_pursuit node that sets all the velocity values to zero, making the car stop.