/twist_switcher

Node that performs switching of twist, emergency stop, etc.

Primary LanguageC++MIT LicenseMIT

twist_switcher

Node that performs switching of twist, emergency stop, etc.

Input

  • Any geometry_msgs::msg::Twist topic
  • twist_bridge/switch : twist switching topic. Send topic name in std_msgs::msg::String to switch.
  • twist_bridge/ems : Emergency Stop Service. Output 0 when True in std_srvs::srv::SetBool.

Output

  • geometry_msgs::msg::Twist topic

Yaml Example

When "auto/cmd_vel" or "manual/cmd_vel" is sent to twist_bridge/switch by std_msgs::msg::String, the value received from the twist topic is output as "/cmd_vel".

twist_bridge_node:
  ros__parameters:
    twist_bridge:
      topic_name:
        input_twist: ["auto/cmd_vel", "manual/cmd_vel"]
        output_twist: "/cmd_vel"