industrial_robot_simulator: listen to 'fake_e_stop' and change availability accordingly - #254
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(cherry picked from commit 5474009)
gavanderhoorn
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Jun 18, 2021
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See inline comment.
(the bigger discussion is that industrial_robot_simulator is supposed to implement a "standard interface", and e-stop topics are not part of whatever standard we're currently implementing, but that's perhaps out-of-scope for this PR)
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| # React to published e-stop | ||
| self.e_stop_state = False | ||
| self.e_stop_sub = rospy.Subscriber('fake_e_stop', Bool, self.e_stop_changed_callback) |
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Would it be better to not call this fake_e_stop? The whole script is already a simulator/simulation of a real robot, and those typically don't have fake_e_stop topics.
If we want to add this here, I would propose the rename the subscribed topic. If the producing side would like to call the topic fake_e_stop, remapping could be used.
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(cherry picked from commit 5474009)
This adds the ability to trigger and resolve an emergency stop in industrial_robot_simulator to test error handling offline