Does ros have a state observer?

asked 2017-02-21 16:17:28 -0600

updated 2018-06-06 18:12:14 -0600

I'd like to monitor the odometry feedback and the command messages to identify whether a robot is stuck. Something along the lines of this - If the odometry does not update over a certain command messages then the robot should figure out that it's stuck and override the command given to it.

What's the recommended way to do this?

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Isn't this what the navigation stack does (ie: when it triggers the recovery behaviours)?

gvdhoorn gravatar image gvdhoorn  ( 2017-02-22 00:55:31 -0600 )edit

I don't know, I haven't poked around too much. But I'm looking for something more generic that can be extended to other systems - If the payload of an arm is impeding the arm from achieving the desired velocities and accelerations etc. So I'm looking for a more generic state observer, if it exists.

Sidd gravatar image Sidd  ( 2017-02-22 09:58:14 -0600 )edit

According to http://answers.ros.org/question/37537... , the recovery behaviors are triggered if An oscillation was discovered, no global plan was received for some amount of time, or the local planner failed to find a valid velocity command for some amount of time

Sidd gravatar image Sidd  ( 2017-02-22 16:25:44 -0600 )edit

It doesn't necessarily seem to depend on the odometry of the robot, at least directly..

Sidd gravatar image Sidd  ( 2017-02-22 16:26:49 -0600 )edit