On Wed, Dec 15, 2010 at 10:47 AM, Steven Bellens <span dir="ltr">&lt;<a href="mailto:steven.bellens@mech.kuleuven.be">steven.bellens@mech.kuleuven.be</a>&gt;</span> wrote:<br><div class="gmail_quote"><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
Hi,<br>
<br>
I made a little patch for the pr2_teleop keyboard app in order to, as<br>
soon as the user releases the key, it publishes a zero Twist msg. We<br>
needed it here in order to get it succesfully working with our Orocos<br>
application. Otherwise, the robot would just keep on moving after<br>
releasing the key( which sounds like very dangerous :) )<br>
How do other ROS applications handle this? I guess there must be some<br>
timeout implemented while listening on the twist topic in order to set<br>
the velocity to 0 when no new data arrives?<br></blockquote><div><br></div><div>I put the command timeout in my twist receiver that then forwards commands to the robot&#39;s controller. This way, you still get the same timeout behavior whether the twist is coming from a joystick, the nav stack, a custom node, etc. This could be helpful if, say, your custom node dies without getting a chance to publish a 0 Twist.</div>
<div><br></div><div>- Eric</div><div> </div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
If others are interested, I&#39;ll file a ticket for it.<br>
<br>
regards,<br>
<br>
Steven<br>
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