Publish stall state of the robot #42
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I am working with stage ros and I also need to detect collisions with the obstacles. This feature is exactly what solves my problem. It would be great if it is merged within stage. |
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Sorry, I accidentally closed this when changing the branch layout of the repository. I've reopened it and updated the target base to be |
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This PR works for me and would be a nice addition. It would help enable automated tests to use Stage for regression testing. |
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What do you think about changing the Int8 into "std_msgs::Bool"? |
TixiaoShan
approved these changes
May 21, 2020
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We are usually encountering a problem while simulating our robots with stage: we are not able to detect whether a robot has collided with an obstacle (just visually but not programmatically).
In your stageros.cpp we also found a todo note for adding a separate publisher for that purpose.
With this pull request, we would like to add such a publisher to stage_ros.
Currently, a Int8 message is sent with the same rate like the odometry message and it indicates whether the robot is stalled or not. We may change the strategy to just send messages as soon as the robot is stalled actually.
What do you think and would it be possible to push this feature to kinetic?
Thank you for your consideration.