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

1.ros

asked 2016-08-14 07:47:08 -0500

Atul Divekar

26 ●9 ●11 ●12

updated 2016-08-16 00:33:34 -0500

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 ( 2016-08-16 01:22:44 -0500 )edit

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answered 2016-08-14 11:57:51 -0500

ahendrix

47576 ●179 ●367 ●662 http://namniart.com/

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.