Add /amr/cmd_vel command timeout#10
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Stop the motors if there are no move commands on /amr/cmd_vel topic for 300ms.
gbr1
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Nov 28, 2024
gbr1
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Hi @vbucoci-intel ! Thank you for your PR.
I would like to suggest you some changes:
- the safety timeout should be a parameter -> so you can change it from 30ms to Nms (future proof)
- the time should be from ROS time base and not counting how many times a function is called
thank you in advance
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Stop the motors if there are no move commands on
/amr/cmd_veltopic for 300ms.This feature is implemented in other development robots, such as iRobot Create 3.