ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

ROS is explicitly designed to be an anonymous publish and subscribe communications framework - this means that, by design, you shouldn't know where data on a particular topic is coming from.

I suggest you change your architecture to use a separate topic for your emergency stop command, or use a multiplexer to control which topic is sent to your engine control, and switch that mux based on your heartbeat status.