Where do I publish a robot's status?

asked 2018-08-06 13:59:09 -0600

cerebraldad gravatar image

updated 2018-08-07 14:43:08 -0600

I would like to trigger a LED or another indicator when ROS is running and or a specific package is ready.

Would I do this as a service or a message? How would I track it when its not ready any longer?

I'd also Like to create an indicator when an action is running or completed. As above would i create my own message type and pub sub to that - if so when?

Anyone point me to some tutorials that can help me accomplish this?


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If you're using actions you could write a custom node that subscribes to the goal and feedback/status topics. Based on the msgs being published on those you could control your led.

But that would be rather low-level.

Problem is: there is no universally accepted 'way' to determine or encode ..

gvdhoorn gravatar image gvdhoorn  ( 2018-08-07 14:44:58 -0600 )edit

.. whether 'a robot' is performing some task or not.

For example: some robot control systems use statemachines extensively. In those cases, observing the active state could indicate whether the robot is performing some task. But if your software doesn't use statemachines, that won't work.

gvdhoorn gravatar image gvdhoorn  ( 2018-08-07 14:46:04 -0600 )edit