Controller stopper

As explained in the section Finish startup on the robot, the robot needs to run a program in order to receive motion commands from the ROS driver. When the program is not running, commands sent to the robot will have no effect.

To make that transparent, the controller_stopper node mirrors that state in the ROS controller’s state. It listens to the /io_and_status_controller/robot_program_running topic and deactivates all motion controllers (or any controller not explicitly marked as “consistent”, see below)when the program is not running.

Once the program is running again, any previously active motion controller will be activated again.

This way, when sending commands to an inactive controller the caller should be transparently informed, that the controller cannot accept commands at the moment.

In the same way, any running action on the ROS controller will be aborted, as the controller gets deactivated by the controller_stopper.

Parameters

• ~consistent_controllers (list of strings, default: [])

  A list of controller names that should not be stopped when the program is not running. Any controller that doesn’t require the robot program to be running should be in that list.