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 | 1 | initial version |
As a general note, the best source for Stage details is github, but it's embedded in model_draw.cc. stageros doesn't publish this information. The condition is identified in model_position.cc.
You could modify stageros.cpp to detect when a model is stalled (collisions) and to publish a message on a topic.
As a final note, you could also just evaluate the /robot_X/odom message and compare the observed velocity to the intended velocity of the robot. (Compare the embedded twist message to the twist command that you issued.)
| | 2 | No.2 Revision |
As a general note, the best source for Stage details is github, but it's embedded in model_draw.cc.
stageros doesn't publish this information. The condition is identified in model_position.cc.
You could modify stageros.cpp to detect when a model is stalled (collisions) and to publish a message on a topic.
As a final note, you could also just evaluate the /robot_X/odom message and compare the observed velocity to the intended velocity of the robot. (Compare the embedded twist message to the twist command that you issued.)
| | 3 | No.3 Revision |
As a general note, the best source for Stage details is github, but it's embedded in model_draw.cc. stageros doesn't publish this information. The condition is identified in model_position.cc.
You could modify stageros.cpp to detect when a model is stalled (collisions) and to publish a message on a topic.
As a final note, you could also just evaluate the /robot_X/odom message and compare the observed velocity to the intended velocity of the robot. (Compare the embedded twist message to the twist command that you issued.)
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