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A Robot should stop moving If cmd_vel is stopped Publishing or If STOP command send.

asked 2016-08-14 07:47:08 -0600

Atul Divekar gravatar image

updated 2016-08-16 00:33:34 -0600

Hello I have one confusion
I am publishing cmd_vel ( geometry_msgs/Twist ) messages using teleop_twist_keyboard . The Robot subscribes this messages i.e cmd_vel message. When should my robot stop moving ? a) As soon as I stop sending or publishing the cmd_vel from the Keyboard OR b) It should stop moving If i send him a STOP command Please can anyone Suggest which one is the Right ?

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You've updated this without providing any additional info; it looks like you're trying to gather additional answers. Is there something that was unclear or not satisfying about my answer?

ahendrix gravatar image ahendrix  ( 2016-08-16 01:22:44 -0600 )edit

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answered 2016-08-14 11:57:51 -0600

ahendrix gravatar image

For safety, most robots use the first option (a), with a timeout.

If the ROS node that receives /cmd_vel doesn't receive a message within a certain time period, it brings the robot to a stop. I'd recommend a 1 to 2 second timeout for most indoor robots

The timeout ensures that if the connection to teleop is lost, or an autonomous navigation node stops sending commands, the robot comes to a stop instead of driving into a wall or other obstacle.

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Thank you.

Atul Divekar gravatar image Atul Divekar  ( 2016-08-16 07:21:59 -0600 )edit

I have the similar questions.. just wondering if anybody has some implementation that can be refer to?

macleonsh gravatar image macleonsh  ( 2019-05-11 04:22:20 -0600 )edit

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Asked: 2016-08-14 07:47:08 -0600

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Last updated: Aug 16 '16