Publish zero if locked #42
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remove lock test in `hasPriority`
Move getLockPriority to public
Publish zero if topic has priority and is locked
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This seems very useful. Can we have an estimate of when it will be merged ? @bmagyar and @efernandez, do you know who currently maintains this package ? |
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hi guys, sorry for the delay on this could you please add a feature flag for this and have it off by default? I'd rather not change default behaviour straight away |
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I will make the modification to make it optional. What do you mean by feature flag? |
get `pub_zer_if_locked` param and propagate
Add `pub_zero_if_locked` parameter ti TopicHandle class. Publish zero vel only if param is true.
add parameter to config file
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Hi @bmagyar, I made the changes to make it optional. It may be good to change the documentation too. |
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Hi,
I found that when a topic is locked, the mux just stops publishing. This means that our robot depends on another timeout to stop (the smoother in our case).
So I made a small modification to publish zero twists when the topic that has priority is locked.
To do so, I moved the lock check in the topic callback. If the topic is locked, I replace the message with
geometry_msgs::msg::Twist(). If this topic has priority, the zero twist value will be published.Hence the robot starts to brake immediately.