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rws_service_provider: add system_states and runtime_states watchdog #22

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gavanderhoorn opened this issue Mar 18, 2021 · 0 comments
Open

rws_service_provider: add system_states and runtime_states watchdog #22

gavanderhoorn opened this issue Mar 18, 2021 · 0 comments
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enhancement New feature or request

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@gavanderhoorn
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As reported in ros-industrial/abb_libegm#123: when using abb_rws_service_provider stand-alone (ie: not as part of the driver .launch files), it must be used together with abb_rws_state_publisher -- or at least it must receive messages on the system_states and runtime_states topics.

Add a watchdog which will trigger error handling whenever the node doesn't receive messages on either of these topics at the expected rate.
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@gavanderhoorn