Panic node - FontysAtWork/ESA-PROJ GitHub Wiki

This node was made to provide an easy way of stopping the robot base from moving in case of an emergency. It intercepts all velocity commands that are send by move_base and passes them to ~cmd_vel, in case of an emergency its possible stop this by sending a boolean true to the node.

If this boolean is set to true the node will send a twist message with speed 0 to cmd_vel and stops passing messages from move_base/cmd_vel. This should only be done in case of emergency and not to simply stop the robot, once the Boolean value is set it is impossible to reset that Boolean. You'll need to reset the entire system for the robot to start working again. The reasoning behind this that if you need to use this panic stop something has gone wrong and you'll need to reset anyway.

move_base/cmd_vel (geometry_msgs/Twist Message)
Velocity messages from move_base/cmd_vel meant for the robot base.

~<name>/emergency_stop (std_msgs/Bool Message)
Boolean value used to activate the emergency stop.

~cmd_vel (geometry_msgs/Twist Message)
Velocity messages from move_base/cmd_vel that are passed to this topic for the robot base.